A new double power reaching law for sliding mode control

A double power reaching law is proposed which can solve the problems in the traditional reaching law of the sliding mode control such as low convergence speed,long convergence time and severe chattering.The double power reaching law proposed which can reduce chattering has a fast speed either away from or approach to the sliding surface.It is indicated through theoretical analysis that the reaching law has the characteristic of second-order sliding mode,and the system state and its derivative can converge to a neighborhood of the origin quickly.Simulation results show that the reaching law proposed is faster than other reaching laws such as the traditional power reaching law,the exponential reaching law and the fast power reaching law.It also shows a better movement quality of the proposed reaching law.