High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems: A FAS Approach

Xuedong Li; Weizhen Liu; Jindou Xu; Guangren Duan

doi:10.1109/FASTA70174.2026.11549538

High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems: A FAS Approach

Xuedong Li
, Weizhen Liu^*
, Jindou Xu
, Guangren Duan

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
Óbuda University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes an adaptive finite-time command filtered backstepping control scheme for high-order fully actuated strict-feedback systems with parameter uncertainties. By fully exploiting the system's fully actuated and strict-feedback structure, the design process is simplified through the proposed high-order finite-time adaptive command filtered backstepping design. The introduction of a finite-time high-order Levant differentiator effectively avoids the 'explosion of complexity' problem. Finally, by constructing the Lyapunov function, it is proven that all closed-loop system signals achieve uniform ultimate bounded stability within a finite time, with results further validated through simulation.

Original language	English
Title of host publication	Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	123-129
Number of pages	7
ISBN (Electronic)	9798319547323
DOIs	https://doi.org/10.1109/FASTA70174.2026.11549538
State	Published - 2026
Event	5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 - Qinhuangdao, China Duration: 22 May 2026 → 24 May 2026

Publication series

Name	Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026

Conference

Conference	5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
Country/Territory	China
City	Qinhuangdao
Period	22/05/26 → 24/05/26

Keywords

adaptive finite-time control
command-filtered backstepping
Fully-actuated system approach
parameter uncertainties
strict-feedback systems

Access to Document

10.1109/FASTA70174.2026.11549538

Cite this

Li, X., Liu, W., Xu, J., & Duan, G. (2026). High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems: A FAS Approach. In Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 (pp. 123-129). (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FASTA70174.2026.11549538

Li, Xuedong ; Liu, Weizhen ; Xu, Jindou et al. / High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems : A FAS Approach. Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc., 2026. pp. 123-129 (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026).

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title = "High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems: A FAS Approach",

abstract = "This paper proposes an adaptive finite-time command filtered backstepping control scheme for high-order fully actuated strict-feedback systems with parameter uncertainties. By fully exploiting the system's fully actuated and strict-feedback structure, the design process is simplified through the proposed high-order finite-time adaptive command filtered backstepping design. The introduction of a finite-time high-order Levant differentiator effectively avoids the 'explosion of complexity' problem. Finally, by constructing the Lyapunov function, it is proven that all closed-loop system signals achieve uniform ultimate bounded stability within a finite time, with results further validated through simulation.",

keywords = "adaptive finite-time control, command-filtered backstepping, Fully-actuated system approach, parameter uncertainties, strict-feedback systems",

author = "Xuedong Li and Weizhen Liu and Jindou Xu and Guangren Duan",

note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 ; Conference date: 22-05-2026 Through 24-05-2026",

year = "2026",

doi = "10.1109/FASTA70174.2026.11549538",

language = "英语",

series = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "123--129",

booktitle = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",

address = "美国",

}

Li, X, Liu, W, Xu, J & Duan, G 2026, High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems: A FAS Approach. in Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026, Institute of Electrical and Electronics Engineers Inc., pp. 123-129, 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026, Qinhuangdao, China, 22/05/26. https://doi.org/10.1109/FASTA70174.2026.11549538

High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems: A FAS Approach. / Li, Xuedong; Liu, Weizhen; Xu, Jindou et al.
Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc., 2026. p. 123-129 (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Xu, Jindou

AU - Duan, Guangren

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N2 - This paper proposes an adaptive finite-time command filtered backstepping control scheme for high-order fully actuated strict-feedback systems with parameter uncertainties. By fully exploiting the system's fully actuated and strict-feedback structure, the design process is simplified through the proposed high-order finite-time adaptive command filtered backstepping design. The introduction of a finite-time high-order Levant differentiator effectively avoids the 'explosion of complexity' problem. Finally, by constructing the Lyapunov function, it is proven that all closed-loop system signals achieve uniform ultimate bounded stability within a finite time, with results further validated through simulation.

AB - This paper proposes an adaptive finite-time command filtered backstepping control scheme for high-order fully actuated strict-feedback systems with parameter uncertainties. By fully exploiting the system's fully actuated and strict-feedback structure, the design process is simplified through the proposed high-order finite-time adaptive command filtered backstepping design. The introduction of a finite-time high-order Levant differentiator effectively avoids the 'explosion of complexity' problem. Finally, by constructing the Lyapunov function, it is proven that all closed-loop system signals achieve uniform ultimate bounded stability within a finite time, with results further validated through simulation.

KW - adaptive finite-time control

KW - command-filtered backstepping

KW - Fully-actuated system approach

KW - parameter uncertainties

KW - strict-feedback systems

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Li X, Liu W, Xu J, Duan G. High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems: A FAS Approach. In Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc. 2026. p. 123-129. (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026). doi: 10.1109/FASTA70174.2026.11549538

High-Order Finite-Time Adaptive Command Filtered Backstepping for Strict-Feedback Systems: A FAS Approach

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