带饱和函数的幂次新型滑模趋近律设计与分析

针对滑模控制系统中存在抖振严重、收敛速度慢的问题，设计了一种带饱和函数的幂次滑模趋近律，该趋近律通过饱和函数和两个幂次项系数在系统趋近过程不同阶段进行针对性地调节，提高了系统动态响应过程的收敛速度，且有效削弱了抖振，从理论上证明了其存在性和可达性。将该趋近律应用到存在干扰的二力臂机械手名义模型控制系统中，结果表明，所提出的趋近律提高了系统的收敛速度，而且有效抑制了系统的抖振。

Novel power reaching law with saturation function of sliding mode control design and analysis

In order to solve the problems of severe chattering and slow convergence in sliding mode control system, this paper designed a novel reaching law by using saturation function and power term. It adjusted the reaching law by the saturation function and two power term coefficients at different stages of the system approaching process. It can improve the convergence speed of the dynamic response process, and effectively weaken the chattering. Furthermore, this paper proved the existence and accessibility of the novel reaching law. Applying the reaching law to nominal model of the two arms manipulator control system with disturbance, the simulation results show that the reaching law improves the convergence speed and effectively attenuates the chattering of the system.