  This paper introduces a novel control framework for addressing the
satisfaction of multiple time-varying output constraints in uncertain
high-order MIMO nonlinear control systems. Unlike existing methods, which often
assume that the constraints are always decoupled and feasible, our approach can
handle coupled time-varying constraints even in the presence of potential
infeasibilities. First, it is shown that satisfying multiple constraints
essentially boils down to ensuring the positivity of a scalar variable,
representing the signed distance from the boundary of the time-varying
output-constrained set. To achieve this, a single consolidating constraint is
designed that, when satisfied, guarantees convergence to and invariance of the
time-varying output-constrained set within a user-defined finite time. Next, a
novel robust and low-complexity feedback controller is proposed to ensure the
satisfaction of the consolidating constraint. Additionally, we provide a
mechanism for online modification of the consolidating constraint to find a
least violating solution when the constraints become mutually infeasible for
some time. Finally, simulation examples of trajectory and region tracking for a
mobile robot validate the proposed approach.

Systems and Control;Systems and Control