I. Introduction
Backstepping technology [1] is a well-known and wildly used method to address the control design problem for nonlinear systems. Nevertheless, the traditional backstepping design process cannot avoid the “explosion of complexity” problem, which arises from the recurrent derivation of command signals. To address the problem of high computational complexity, the dynamic surface control (DSC) methodology [2] introduces low-pass filters during the design procedure. However, the filtered errors are not taken into account in the DSC-based method, which may affect the system performance. Another modified backstepping method is the command-filtered backstepping (CFB) method [3], in which the command filters are used to produce the signals’ derivatives without analytic differentiation. The CFB method can reduce the filtered errors by introducing the error compensation mechanism.