Command filter-based adaptive backstepping controller for high-order uncertain nonlinear systems

This article proposes a command filtering-based adaptive backstepping strategy for a category of uncertain high-order nonlinear systems. The proposed method effectively addresses the explosion of complexity issue. The overall system variables are established to be uniformly ultimately bounded (UUB) based on Lyapunov analysis, and the tracking errors can convergence to a small region around zero. The results of simulation are displayed to demonstrate the presented scheme viability.