<p>In this paper, a novel adaptive fuzzy command filtering precise tracking control (PTC) mechanism is developed for nonlinear systems under input constraints and mismatched disturbances. Under this control mechanism, the tracking error converges precisely on zero, marking a significant departure from conventional methods that merely converge to a small neighborhood around the desired value. To mitigate approximation errors, mismatched disturbances, and the differentials of virtual variables, a compound polynomial is constructed, with its estimated upper limit incorporated into the controller’s design for compensation. Upon deviation of the tracking error from the origin, the corresponding control action is engaged to push it along a path back to the origin, resulting in PTC. Meanwhile, nonlinear functions and input saturation are approximated by the fuzzy logic systems and the smooth auxiliary designed function, respectively. Finally, the proposed novel control method proves that all signals of closed-loop systems are bounded, and tracking errors can converge to zero precisely. The effectiveness of the above method is verified in simulation.</p>