For attitude synchronization and position tracking control of spacecraft rendezvous and docking simulator, based on an improved fast nonsingular terminal sliding mode surface and an improved adaptive control architecture, an inner loop finite-time coupled attitude and position controller and a outer loop finite-time coupled attitude and position controller are designed by using a double closed loops control structure under the condition of external disturbances and inertia uncertainties existing. The proposed adaptive control architecture not only can inhibit the disturbances and uncertainties effectively, but also can guarantee the continuity of the controllers. The Lyapunov theory and simulation results show that the proposed controllers can guarantee the finite-time stability of inner loop tracking errors and outer loop tracking errors, and the errors can converge to the equilibrium point accurately.