In this paper uncertain continuous-time nonlinear systems affine in the control variable and with saturated actuators are considered. The finite-time regulation problem of the system output to zero is then solved by proposing a generic Higher-Order Sliding Mode (HOSM) controller equipped with a novel mechanism to encounter the saturation limits, thus extending previous results on saturated control inputs valid only in case of specific $r$-order sliding mode algorithms. The so-called Bounded Integral Control (BIC) method is reformulated into the framework of continuous HOSM, so as to replace the traditional integrator used to generate the continuous signal directly fed into the plant. Stability conditions for tuning the proposed algorithm are provided, and a numerical example finally assesses the effectiveness of the proposed technique.

本文考虑了控制变量和执行器饱和的仿射不确定连续时间非线性系统。然后通过提出一种通用的高阶滑模 (HOSM) 控制器来解决系统输出为零的有限时间调节问题，该控制器配备了一种新的机制来遇到饱和限制，从而扩展了先前关于饱和控制输入的结果，仅在具体情况$r$阶滑模算法。将所谓的有界积分控制（BIC）方法重新制定为连续HOSM的框架，以取代传统的积分器用于产生直接馈入工厂的连续信号。提供了调整所提出算法的稳定性条件，并最终通过数值示例评估了所提出技术的有效性。