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An immersion and invariance sliding mode control with time-delay estimation (IISMCTDE) is proposed to cope with uncertainties, disturbances, and actuator faults. First, time-delay estimation is utilized to reconstruct the total disturbances including uncertainties, disturbances, and actuator faults. Then, based on the time-delay estimation, an immersion and invariance sliding mode control (IISMC) scheme is developed to achieve accurate attitude tracking from the reconstructed knowledge. The proposed IISMCTDE can not only achieve finite-time convergence but also be simple and easy to operate. 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