Reaching Law Sliding Mode Control with Surplus Uncertainties Compensation

This paper proposes a compensatory reaching law sliding mode control method to suppress the influence of surplus uncertainties on the convergence performance of the system. The compensatory reaching law has the function of estimating and compensating the surplus uncertainties by adding a compensation term in the design of the reaching law, so as to avoid the design of disturbance observer or other methods to deal with uncertainties. The designed method can greatly simplify the structure of the controller and improve the control performance of the system. The simulation results show the simplicity and superiority of this method.