Tracking and $$\varvec{H_\infty }$$H∞ control of constrained nonlinear switched systems in strict feedback form

This paper deals with the problems of tracking and $$H_\infty $$H∞ control for output-constrained and state-constrained nonlinear switched systems in strict feedback form. Under a mild condition on the initial output tracking error and the simultaneous domination assumption, a novel approach is proposed to design controller such that the output tracking error converges to zero asymptotically and is always within a pre-specified limit range. Smooth or $$p$$p-times differentiable unbounded functions are introduced and incorporated in output tracking error transformations to complete the control design. Furthermore, the developed method is extended to the state-constrained $$H_\infty $$H∞ control problem for a class of nonlinear switched systems with disturbance input. Finally, simulation examples are provided to demonstrate the applicability of the presented results.