Abstract：
This paper proposes a fractional-order time-varying sliding mode control method with predefined-time convergence for a class of arbitrary-order nonlinear control systems with compound disturbances. The method has global robustness and strongly predefined-time stability. All state errors of the system can converge to zero at a desired time, which can be set arbitrarily with a simple parameter. The strongly predefined-time convergence of the system is clearly demonstrated by the analytic expression of state error, which is obtained by solving fractional-order differential equations corresponding to the sliding mode function. The simulation results show that the proposed method still has good control performance in the presence of input saturation and external interference.
摘要：
针对一类具有复合扰动的任意阶非线性控制系统，提出了一种具有预定时间收敛性的分数阶变滑模控制方法。该方法具有全局鲁棒性和强预定义时间稳定性。系统的所有状态误差都可以在期望的时间收敛到零，它可以用一个简单的参数任意设置。状态误差的解析表达式清楚地证明了系统的预定义时间收敛性，通过求解滑模函数对应的分数阶微分方程得到。仿真结果表明，该方法在存在输入饱和和外部干扰的情况下仍具有良好的控制性能。
