Command filtered backstepping

This article presents and analyzes a novel back-stepping feedback control implementation approach. In practical applications, implementation of the backstepping approach becomes increasingly complex as the state order increases. The main complicating factor is computation of the command derivatives. This article presents a filtering approach that significantly simplifies the backstepping implementation, analyzes the effect of the command filtering, and derives a compensated tracking error that retains the standard stability properties of backstepping approaches.