Command filter-based adaptive finite-time control of fractional-order nonlinear constrained systems with input saturation

In this article, the command filter-based finite-time tracking control issue is explored for fractional-order nonlinear constrained systems (FONCSs) with saturated input. Firstly, a novel fractional-order Lyapunov stability lemma is put forward, thereby offering a reliable strategy for finite-time convergence of FONCSs. By employing an improved error compensation system and introducing auxiliary signal, a new finite-time command filtered backstepping technique is developed. The proposed control strategy guarantees the finite-time convergence characteristic of filtering signals, in addition to alleviate the impacts produced by saturated input. After that, a modified nonlinear state-dependent function (NSDF) is developed to solve the state constraint problem while fulfilling the concavity condition. In comparison to the existing constrained control techniques in FONCSs, this approach not only ensures finite-time convergence of the tracking error but also gets rid of feasibility demands. Ultimately, two simulation scenarios are supplied to illustrate the feasibility and usefulness of the suggested strategy.