Adaptive Finite‐Time Command‐Filtered Control for Nonlinear Systems With Time‐Varying Parameters and Extended State Constraints

ABSTRACT The primary objective of this study is to develop an adaptive controller for constrained nonlinear systems to achieve tracking control effectively in finite time. The research is conducted in three systematic steps: First, a novel practical finite‐time stability (PFTS) criterion is established, providing the theoretical foundation for the design of controllers. Second, the original system with extended state constraints is converted into an unconstrained one via nonlinear mapping (NM). Third, building upon the established PFTS criterion and the command‐filtered backstepping technique, an adaptive finite‐time control scheme is proposed. This innovative control algorithm ensures superior tracking performance while strictly adhering to extended full‐state constraints. Additionally, all system signals maintain PFTS. Both stability analysis and simulations are conducted to validate the effectiveness of the proposed control strategy.