Due to the repeated differentiations of virtual control inputs required in traditional backstepping methods, which often lead to the so-called “explosion of complexity” problem, the command-filter-based control has emerged as an effective technique to overcome this problem. The core idea of command-filter-based control is to pass the desired virtual control signal through a low-pass filter that approximates its derivative, thereby avoiding the direct computation of high-order derivations. These filtered signals are then used in the recursive design of controllers, enabling a simpler and more practical implementation of backstepping steps.