Double-rigid-body characteristic point saturation fixed time relative pose tracking control method
A technology of relative pose and fixed time, which is applied in attitude control, three-dimensional position/course control, vehicle position/route/altitude control, etc., and can solve problems such as the inability to simultaneously deal with actuator saturation and fixed time convergence
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[0115] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.
[0116] Embodiments of the present invention provide a method for tracking relative poses and attitudes between feature points of double rigid bodies with saturation fixed time, such as figure 1 As shown, the method includes the following steps:
[0117] S1. Based on the Newton-Euler method, establish the pose dynamic equation of the tracker and the target;
[0118] S2. According to the established dynamic equations of the respective poses of the two rigid bodies and the relative poses and relative velocities between the feature points of the two rigid bodies, establish a relative pose dynamics equation considering model uncertainty;
[0119] S3. Design a fixed-time disturbance observer according to the established relative pose dynamic equation;
[012...
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