In this paper, a control strategy based on barrier functions and adaptive backstepping is proposed for a class of nonlinear systems affected by external disturbances and input saturation. Firstly, a new exponential barrier function is designed to achieve the solution of the problems caused by external disturbances and input saturation. Then, a first-order filter is used to deal with the “explosion of complexity” problem in backstepping control design. In order to reduce the influence of filter errors on the control performance of the system, a filter error compensation mechanism is designed. Then, based on the Lyapunov theory, the bounded stability of the closed-loop system is proved. Finally, the effectiveness of the proposed strategy is verified through comparative simulation.
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