Fixed-time filtered backstepping control for a constrained nonlinear system
LI Shuang
ZHOU Chao
WANG Fang
Abstract：Considering a class of nonlinear systems under output error constraints and external disturbances,a filtered backstepping control strategy is proposed by combining with a fixed-time disturbance observer.Firstly,the prescribed performance function is designed to solve the problem of output error constraint.Secondly,a fixed time filter and a fixed-time disturbance observer are designed to respectively tackle the"explosion of complexity"problem and the external disturbances problem,and to ensure that the disturbance estimation error converges to zero within a fixed time.The Lyapunov theory is utilized to analyze the fixed time stability of the closed-loop system,at the same time,the output error meets the constraint requirements in the preset time.Finally,comparative simulation is used to verify the effectiveness of the control strategy.
Keywords：nonlinear systemoutput error constraintprescribed performance functionfixed-time disturbance observ-erfixed-time controlfilter
Publication Date：2026-02-28
Online Publishing Date：2026-04-08(First online date of this platform, not the publication date of the document)
Pages：9( 406-414 )