Disturbance observer-based saturated fixed-time pose tracking for feature points of two rigid bodies

The relative pose dynamics for the feature points of two nearby rigid bodies is modeled in body-fixed coordinated system controlled chaser. Then, a novel model-based fixed-time motion controller developed active chaser to achieve target’s feature-point position tracking and attitude synchronization under constrained control inputs model uncertainties. In particular, convergence time states prescribed independently with initial estimated by parameters. A disturbance observer introduced estimate compensate unknown bounded disturbances, observation errors converge zero fixed time. anti-windup compensator proposed deal actuator saturation. Theoretical analysis simulation results validate effectiveness controller.