In order to accurately regulate the state of nonlinear systems in the face of external disturbances and system uncertainties, an innovative predetermined time terminal sliding mode (PT-TSM) control method is proposed. The preliminary theory, assumptions, nonlinear dynamic equations and sliding surface of the method are introduced, and the robustness of the method is verified by the time-varying formation simulation experiment in Matlab. The results show that the system can reach and stay near the desired state within the preset time, and the estimation bound of the convergence time is less conservative than that of the existing fixed time consensus protocol.