Sliding mode reaching laws for suppressing chattering

Beginning with the reasons of chattering, this article proposes two new sliding mode reaching laws. In one hand, they guarantee the system reach the switching surface rapidly and remain on it, in another hand, they suppress or weaken the chattering effectively, such that the system response can better realize the unification of rapidity and stability. At the same time, the article provides the specific calculation of the arrival time, and make an analysis and comparison of the chattering strength with the conventional reaching law. At last, both the calculation and the simulation results indicate the effectiveness of the proposed approach.