Tracking control for a class of switched nonlinear systems with full state constraints

In this paper, we deal with the tracking control problem for a class of switched nonlinear systems in lower triangular form subject to full state constraints. In order to prevent states from transgressing the constraints, we employ a Barrier Lyapunov Function, which grows to infinity when its arguments approach domain boundaries. Based on the simultaneous domination assumption, we design a continuous controller for the switched system. By ensuring boundedness of the Barrier Lyapunov Function in the closed-loop, we guarantee that the limits are not violated. Furthermore, we show that asymptotic tracking is achieved without transgression 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 a simulation example.