TRACKING CONTROL FOR SWITCHED NONLINEAR SYSTEMS SUBJECT TO TIME-VARYING OUTPUT CONSTRAINTS

In this paper, we address the tracking control problem for switched nonlinear systems in strict-feedback form with time-varying output constraints. To prevent the output from violating the time-varying constraints, we employ a Barrier Lyapunov Function, which relies explicitly on time. Based on the simultaneous domination assumption, we design a controller for the switched system, which guarantees that asymptotic tracking is achieved without transgression of the constraints and all closed-loop signals remain bounded under arbitrary switchings. The effectiveness of the proposed results is illustrated using a numerical example.