Enhanced Command Filter-Based Adaptive Asymptotic Backstepping Tracking Control and Its Application

We propose an adaptive backstepping-based asymptotic control scheme for a class of nonlinear systems with uncertain dynamics. By employing the enhanced command filter, the virtual stabilizing functions are reconstructed to solve the zero-error regulation problem. Then, a novel adaptive control strategy is introduced to improve the system performance in the presence of uncertain functions. Compared with existing command-filtered backstepping controllers, the standard error compensation mechanism is not required in our controller. System performance analysis shows that the asymptotic convergence of the tracking error is guaranteed under our control method. Finally, the effectiveness of the proposed asymptotic control strategy is validated by using simulation results.