The research of the sliding mode control method based on improved double reaching law

摘要

For the single reaching law slow convergence speed and big chattering, this paper proposes a modified double reaching law which replaces symbol function into saturated function and adds the exponential items. This reaching law gives a method for calculating the arrival time of the control system. It overcomes the defects of the single reaching law which approach the sliding mode surface for a long time, and ensures dynamic quality and steady state performance of the system. Applies it to a two-order system, and makes a comparison with the single reaching law, the simulation results verify the effectiveness of the improved double reaching law.