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This paper introduces a novel control framework to address the satisfactionof multiple time-varying output constraints in uncertain high-order MIMOnonlinear control systems. Unlike existing methods, which often assume that theconstraints are always decoupled and feasible, our approach can handle coupledtime-varying constraints even in the presence of potential infeasibilities.First, it is shown that satisfying multiple constraints essentially boils downto ensuring the positivity of a scalar variable, representing the signeddistance from the boundary of the time-varying output-constrained set. Toachieve this, a single consolidating constraint is designed that, whensatisfied, guarantees convergence to and invariance of the time-varyingoutput-constrained set within a user-defined finite time. Next, a novel robustand low-complexity feedback controller is proposed to ensure the satisfactionof the consolidating constraint. Additionally, we provide a mechanism foronline modification of the consolidating constraint to find a least violatingsolution when the constraints become mutually infeasible for some time.Finally, simulation examples of trajectory and region tracking for a mobilerobot validate the proposed approach.

Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints