Adaptive finite time command filtered backstepping control design for a class of uncertain full state constrained strict-feedback nonlinear systems

This article investigates an adaptive finite time command filtered backstepping control design for a class of uncertain full state constrained strict-feedback nonlinear systems. The proposed adaptive control strategy is constructed by combining the barrier Lyapunov functions (BLFs), the adaptive command filtered backstepping control method and the finite time control theory. The BLFs are utilized to overcome the violation of the full state constraints. The proposed adaptive control approach is introduced to avoid the problem of the explosion of complexity and the compensating signals are designed to eliminate the influence of the filtering errors caused by the command filters. Moreover, based on the Lyapunov stability theory, it is proved that all the signals of the closed-loop system are practical finite time stable and the full state constraints are not violated. To verify the efficiency of the proposed adaptive control scheme, simulation results are provided for electromechanical system.