Brief Paper - Output tracking control for a class of switched non-linear systems with partial state constraints

In this study, we deal with the output tracking control problem for a class of switched non-linear systems in lower triangular form subject to constraints on the states. To prevent states from transgressing the constraints, we employ a barrier Lyapunov function (BLF), which grows to infinity when its arguments approach domain boundaries. Based on the simultaneous domination assumption, we design a continuous feedback controller for the switched system. Furthermore, we show that asymptotic tracking is achieved without violation of the constraints and all closed-loop signals remain bounded, when a mild requirement on the initial values is imposed. Finally, the effectiveness of the proposed results is demonstrated using two simulation examples.