Finite-time command filtered adaptive control for nonlinear systems via immersion and invariance

Jinpeng Yu, Peng Shi, Xinkai Chen, Guozeng Cui

Research output: Contribution to journalArticlepeer-review

44 Citations (Scopus)


This paper investigates the problem of finite-time adaptive output tracking control for strict-feedback nonlinear systems with parametric uncertainties. Command signals and their derivatives are generated by a new command filter based on a second-order finite-time differentiator, which attenuates the chattering phenomenon. The parameter estimations are achieved by an immersion and invariance approach without requiring the certainty equivalence principle. The finite-time adaptive controller is constructed via a backstepping design method, a finite-time command filter, and a modified fractional-order error compensation mechanism. The proposed control strategy guarantees the finite-time boundedness of all signals in the closed-loop system, and the tracking error is driven into an arbitrarily small neighborhood of the origin in finite time. Finally, the new design technique is validated in a simulation example of the electromechanical system.

Original languageEnglish
Article number192202
JournalScience China Information Sciences
Issue number9
Publication statusPublished - 2021 Sept


  • adaptive control
  • command-filtered backstepping
  • finite-time control
  • immersion and invariance

ASJC Scopus subject areas

  • Computer Science(all)


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