Backstepping Design Embedded With Time-Varying Command Filters

If embedded with command filter properly, the implementation of backstepping design could be dramatically simplified. In this brief, we introduce a time-varying gain and integrate it design, resulting in new set control algorithms low complexity even for high-order strict-feedback systems. Furthermore, aid “softening” sign function based compensator, zero-error output tracking is ensured while at same time maintaining prescribed transient performance. Numerical simulation carried out to verify effectiveness benefits proposed method.