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

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posted on 2022-05-23, 13:52 authored by Liang Sun, Guang Sun, Jingjing JiangJingjing Jiang

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

Funding

National Natural Science Foundation of China under grant 61903025

China Scholarship Council under grant 201906465028

Fundamental Research Funds for the Central Universities under grant FRF-IDRY-20-013

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

Automatica

Volume

144

Issue

2022

Publisher

Elsevier

Version

  • AM (Accepted Manuscript)

Rights holder

© Elsevier

Publisher statement

This paper was accepted for publication in the journal Automatica and the definitive published version is available at https://doi.org/10.1016/j.automatica.2022.110475

Acceptance date

2022-05-22

Publication date

2022-07-15

Copyright date

2022

ISSN

0005-1098

Language

  • en

Depositor

Dr Jingjing Jiang. Deposit date: 22 May 2022

Article number

110475

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