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A decoupled sliding mode control method based on self-tuning sliding mode disturbance compensator is proposed for underactuated TORA system. The proposed control method does not need the prior information of the upper bound of the system uncertainties, and it has good adaptability to the system uncertainties. This control method includes the design of a self-tuning sliding mode disturbance compensator and a novel double power reaching law. The designed self-tuning sliding mode disturbance compensator can accurately approximate the system uncertainties with unknown upper bound by using a switching gain adaptation algorithm. The proposed novel double power reaching law can suppress high frequency chattering of the decoupled sliding mode controller and guarantee fast reaching of the system states. The stability of the closed-loop control system is proved by Lyapunov stability theory, and the effectiveness of the proposed control method is verified by numerical simulation.