Reducing chattering using Adaptive Exponential Reaching Law

In order to reduce the chattering, which is the chief backward of sliding mode controller. This paper is devoted to the chattering phenomenon in sliding mode control system with Adaptive Exponential Reaching Law(AERL). According the distance between the current states and the sliding switching surface, the AERL changes the reaching speed dynamically. That is, the system states can reach the switching surface fast when far away from it, and the speed slow down when the states enter into certain scope. It is proved that the AERL meets the sliding mode existence condition and the reaching condition. The variable structure controller based on AERL satisfies the requirements of system rapidness and stability. The effectiveness of the AERL in reducing the chattering of the Variable Structure Control(VSC) is validated by simulation results.