Finite-time control for a class of nonlinear nonautonomous systems and its applications

A global control law with finite-time convergence for a class of nonlinear nonautonomous systems is given based on non-singular terminal sliding mode control technique. These systems can be regarded as the generalization of some mechanical systems, such as tracking error systems of robotic manipulator and spacecraft. Under the control, the states can reach the terminal sliding mode surface in finite time and then converge to zero along the terminal sliding mode surface in finite time. The method is applied to the finite-time tracking control problems of spacecraft attitude and robotic manipulator. Simulation results are given to demonstrate the effectiveness of the method.