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The existing control method either ignores the effect of input delay or converges asymptotically in infinite time. A command-filtered backstepping design is used to decrease computational burden. A first-order Levant differentiator is employed to replace the command filter for estimating the virtual control signals in finite time. The time-varying asymmetric barrier Lyapunov function (TVABLF) and command-filtered backstepping design are applied to alleviate the significant challenges caused by the backstepping approach and full-state constraints. A novel finite-time delay compensation mechanism is proposed to remove the impact of input delay. The closed-loop signals are proved to be practical bounded. Simulation results are provided to demonstrate the effectiveness of the proposed control scheme.<\/jats:p>","DOI":"10.1177\/01423312221124648","type":"journal-article","created":{"date-parts":[[2022,10,25]],"date-time":"2022-10-25T08:40:03Z","timestamp":1666687203000},"page":"1128-1139","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":10,"title":["Finite-time command-filtered backstepping control for nonlinear systems with input delay and time-varying full-state constraints"],"prefix":"10.1177","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5294-7269","authenticated-orcid":false,"given":"Qiming","family":"Lin","sequence":"first","affiliation":[{"name":"School of Aeronautics and Astronautics, Shanghai Jiao Tong University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pingfang","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Aeronautics and 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