Control of output-constrained nonlinear switched systems with p-times differentiable unbounded function

This paper presents control design for a class of switched nonlinear systems in strict feedback form subject to output tracking error constraints. Under a suitable condition on the initial output tracking error, the proposed controller guarantees that the output tracking error within a symmetric or an asymmetric pre-specified limit range, and boundedness of all signals of the closed-loop system. First, smooth or p-times differentiable unbouded functions are introduced and incorporated in output tracking error transformations to convert the problem of controlling the systems with output tracking error constraints to a new problem of regulating the converted systems without a constraint but still in a strict feedback form. Then, the backstepping technique is employed to design controller for the transformed systems. Finally, the effectiveness of the developed results is illustrated through a simulation example.