Tracking control of uncertain Euler-Lagrange systems with finite-time convergence

A unified solution is presented to the tracking control problem of Euler-Lagrange systems with finite-time convergence. A reconstruction module is designed to estimate the overall of unmodeled dynamics, disturbance, actuator misalignment, and multiple actuator faults. That reconstruction is accomplished in finite time with zero error. A nonsingular terminal sliding mode controller is then synthesized, and the resultant closed-loop system is also shown to be finite-time stable with the reference trajectory followed in finite time. Unlike most sliding mode control methods to handle system uncertainties, the designed control has less conservativeness and stronger fault tolerant capability. A rigid spacecraft system is used to demonstrate the effectiveness and potential of the proposed scheme.