Finite-Time Command Filtered Backstepping Design for High-Order Fully Actuated Strict-Feedback Systems

In this paper, we address the challenge of finite-time tracking control for a specific class of high-order fully actuated strict-feedback systems (HOFASFSs). The proposed solution involves the introduction of a finite-time high-order Levant differentiator, which is employed for estimating high-order derivatives to mitigate the "explosion of complexity" problem. Additionally, finite-time error compensation signals are designed to minimize the impact of the unachieved portion between the estimated virtual control and the actual virtual control. The newly developed high-order finite-time command filtered backstepping (HOFTCFB) scheme not only capitalizes on the advantages of reducing backstepping steps through the utilization of high-order fully actuated (HOFA) system approaches but also ensures finite-time convergence. The stability and finite-time convergence properties of the closed-loop system are analyzed using the Lyapunov stability criterion, and the theoretical results are validated through simulation tests.