Adaptive finite-time command filter tracking control of nonlinear system with multiple high-order coupling terms and disturbances

This paper is devoted to the research of adaptive command filter tracking control for a class of uncertain nonlinear systems. The coexistence of multiple high-order coupling terms, unknown coefficients of time-varying function and uncertain external disturbances makes the studied system essentially different from the existing results. By skillfully combining adaptive technology, command filter control and backstepping method, a new type of adaptive command filter tracking control algorithm is designed. This controller not only solves the problem of complex explosion, but also introduces compensation signals to achieve higher precision tracking effect. Ultimately, the validity of the control algorithm is verified by numerical simulation and practical application model simulation experiments.