Appointed-Time Control for Euler-Lagrange Systems with Perturbations

In this paper, a time-varying controller is developed for Euler-Lagrange systems with bounded disturbances. A mapping strategy designed to make the convergence time of system achieve at an arbitrarily pre-assigned finite time. The selection period independent initial conditions, and performances free chattering. To be specific, proposed constructed in two steps: Firstly, common PD ensure asymptotical stability nominal system; Secondly, by employing strategy, then obtained new can disturbed converged specified simulations, two-link manipulator used validate that both uniformly undisturbed attraction achieved.