Adaptive Fixed-time Attitude Stabilization of A Rigid Body

This paper investigates the problem of attitude stabilization for a rigid body subject to external disturbance with unknown bound. A fixed-time based finite time controller is proposed to guarantee that the closed-loop system gets stable in fixed time, which means the bound of the settling time is independent of the initial conditions. Moreover, the adaptive method is adopted to deal with the external disturbance. Specially, a continuous sinusoidal function is introduced into the controller to solve the inherent singularity problem of terminal sliding mode control. The simulation results are presented to illustrate the performance of the proposed control scheme with high accuracy, fast convergence and good robustness to external disturbance.