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Unlike traditional event-driven methods that solely transmit asynchronous control signals, the proposed method can also facilitate non-periodic data transmission to the controller, significantly enhancing communication resource utilization. Furthermore, a self-triggered (ST) mechanism is proposed to diminish the reliance on supplementary monitoring devices. A predefined-time disturbance observer is developed, which can estimate and compensate for lumped disturbances including parameter uncertainty, external disturbance, actuator fault, and input saturation under restricted communication. Based on a novel derivable nonsingular predefined time sliding mode surface, a robust fault-tolerant controller is proposed. It is proved that the relative position and attitude of the spacecraft can converge to a small bounded region around the origin within a predefined time. Additionally, the closed-loop states remain ultimately uniformly bounded and Zeno-free behavior is guaranteed. A series of digital simulations are performed to validate the key characteristics of the proposed scheme.<\/jats:p>","DOI":"10.1177\/01423312251358066","type":"journal-article","created":{"date-parts":[[2025,8,25]],"date-time":"2025-08-25T04:15:38Z","timestamp":1756095338000},"page":"2666-2684","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Event-triggered fault-tolerant tracking control for 6-DOF spacecraft rendezvous with predefined-time strategy under input saturation"],"prefix":"10.1177","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-2722-8060","authenticated-orcid":false,"given":"He","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Astronautics, Harbin Institute of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9574-2749","authenticated-orcid":false,"given":"Yin","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Astronautics, Harbin Institute of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yan","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Astronautics, Harbin Institute of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,8,24]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2019.09.001"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.5536"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.6573"},{"key":"e_1_3_2_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2023.10.1096"},{"key":"e_1_3_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1999.830922"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.5276"},{"issue":"3","key":"e_1_3_2_8_1","first-page":"1291","article-title":"Predefined-time observer-based nonsingular sliding-mode control for spacecraft attitude stabilization","volume":"71","author":"Chen J","year":"2024","unstructured":"Chen J, Chen Z, Zhang H, et al. 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