High-Precision Dynamic Tracking and Active Disturbance Rejection Control Method for Wide- and Narrow-Band Composite-Axis Servo System for Inter-Satellite Laser Communication

Wide- and narrow-band composite-axis servo systems in inter-satellite laser communication face critical challenges in balancing high-precision dynamic tracking and strong robust anti-disturbance performance under the coupling effect of high-speed inter-satellite relative motion and multiple strong disturbances. To address this issue, this paper proposes a composite control method integrating adaptive non-singular terminal sliding-mode control and a nonlinear extended state observer. First, a full-link dynamic model covering electromechanical coupling and inter-axis disturbance transmission is constructed to accurately quantify the disturbance characteristics of coarse- and fine-tracking loops. Second, a third-order nonlinear extended state observer is designed to realize real-time high-precision estimation and feedforward compensation of lumped disturbances. On this basis, a self-consistent adaptive non-singular terminal sliding-mode control law is formulated. Under the explicitly stated observer-residual and reaching-phase assumptions, the ideal continuous model provides finite-time convergence of the sliding variable and tracking error. Finally, a wide- and narrow-band cooperative strategy based on error frequency division is introduced to achieve complementary performance between large-stroke coarse tracking and ultra-high-precision fine tracking. Numerical simulations yield a steady-state tracking-error point estimate of 0.30 μrad and a 20 dB disturbance-suppression bandwidth of 1200 Hz. In the semi-physical dynamic-tracking test, the proposed controller limits the peak error to 1.2 μrad; the instrument-only expanded uncertainty of the detector output is estimated as 0.12 μrad (coverage factor k = 2). At the reported evaluation points, the proposed method outperforms PID, conventional sliding-mode control, and linear active-disturbance-rejection control. Deterministic robustness simulations also show smaller tracking errors and shorter recovery times under parameter perturbation, actuator saturation, and temporary link occlusion. No Monte Carlo loss-of-lock probability is claimed.