Error-Based Gain-Varying Finite-Time Command Filtered Backstepping Control for Nonlinear Systems With Disturbances

In this brief, a novel error-based gain-varying backstepping control strategy is proposed for nonlinear systems with disturbances. The error-based gain-varying functions are constructed to substitute the static gains to enhance the anti-disturbance capability and improve the transient performance. The command filter is applied to avoid the differential explosion problem and the filtering errors are reduced by using gain-varying error compensation mechanism. The error-based gain-varying backstepping strategy ensures that the tracking error converges into a small neighborhood of origin in finite time and all signals in the closed-loop system are bounded in finite time. An example of single-link manipulator is employed to illustrate the effectiveness of the proposed strategy.