Double Power Reaching Law for Sliding Mode Control with Unidirectional Auxiliary Surfaces

This paper presents an improvement strategy for conventional sliding mode control. First, in consideration of alleviating chattering phenomenon, unidirectional auxiliary surfaces (UASs) are used to form the positively invariant set, where once the sliding mode enters, it will not leave any more. Under the effect of switching surfaces and UASs, the process of balance point reaching gets smoother. However, this method is at the expenses of reaching time, in order to accelerate the reaching rate, thus, double power reaching law is brought in. Then, stability analysis is provided based on Lyapunov stability theory. Finally, simulations are given to show the effectiveness of the proposed strategy.