An adaptive command filter control of nonlinear system with friction input is formulated in this paper. First, based on the obtained state space model, a command filter control method is proposed, which can address the “explosion of complexity” problem existed in traditional backstepping design and ensure the asymptotic convergence of the tracking errors. Moreover, to cope with the problem of filter error between filter output and virtual control signal, dynamic error compensation system is designed. Next, a HONN system is employed to simplify the calculation and approximate the uncertainties in the system. At last, in order to clarify the effectiveness of the above theory, simulation results are given.