在传统滑模变结构的基础上对双幂次趋近律进行了改进,提出了一种新的改进的双幂次趋近律,在双幂次趋近律的基础上增加了自适应项,通过调整γ和k的值有效提高了趋近速度并削弱了抖振.最后将该方法用于仿真机械手轨迹跟踪.与双幂次趋近律控制算法的对比实验结果表明,该控制算法动态性能良好,能够较快速地跟踪给定的期望轨迹且抖振小,有效地提高了机械手性能. Based on the traditional sliding mode variable structure, the bivariate approach law is improved. A new improved bivariate approach law is proposed. Based on the bimodulus approach, an adaptive term , By adjusting the value of γ and k effectively improve the speed of approach and weaken the chattering.Finally this method is used to simulate robot trajectory tracking.Compared with the bimodulus approach algorithm experimental results show that the control algorithm dynamics Good performance, can be faster to track a given trajectory and chattering small, effectively improving the robot performance.