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The command-filtering technology combined with error compensation mechanisms is proposed to deal with the \u201cexplosion of complexity\u201d problem in traditional backstepping design and reduction of the filtering errors. The Barrier Lyapunov functions (BLFs) are constructed to ensure that all system states do not violate the boundary of its constraints. The command-filtered adaptive fuzzy controller is designed such that the state constraints are not breached almost surely, all signals in the closed-loop system are bounded almost surely, and the first-order moment of the tracking error converges to an arbitrarily small neighborhood of zero by parameters tuning. Finally, the effectiveness of the proposed control method is illustrated by simulation results. <\/jats:p>","DOI":"10.1177\/01423312241229971","type":"journal-article","created":{"date-parts":[[2024,2,26]],"date-time":"2024-02-26T11:22:34Z","timestamp":1708946554000},"page":"2391-2405","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Barrier Lyapunov function\u2013based command-filtered adaptive fuzzy control of random quadrotor systems"],"prefix":"10.1177","volume":"46","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6927-2261","authenticated-orcid":false,"given":"Hui","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Mathematics and Informational Sciences, Yantai University, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4126-6529","authenticated-orcid":false,"given":"Jiaxuan","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Mathematics and 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