In　this　article,　the　tracking　control　problem　is　investigated　for　uncertain　nonlinear　multiple　constrained　systems.　The　constraints　on　tracking　error　and　system　states　are　considered　as　asymmetric,　time-varying,　and　state-dependent　case,　which　is　more　general　and　appropriately　unsolved　at　the　present　stage.　To　deal　with　constraint　problem,　an　adaptive　constraint　control　method　based　on　composite　boundary　structure　is　proposed　in　this　article.　The　state-dependent　mapping　is　introduced　to　ensure　the　tracking　error　and　full　system　states　within　the　asymmetric　and　state-dependent　constraint　regions　without　involved　feasibility　condition　on　virtual　controllers.　Meanwhile,　the　singularity　problem　caused　by　the　constrained　variables　approaching　the　constraint　boundaries　is　considered　in　this　article.　The　composite　boundary　structure　is　incorporated　into　controller　design　to　avoid　the　control　signals　and　adaptive　laws　tending　to　infinity.　The　advantage　and　availability　of　the　developed　control　method　are　exhibited　by　simulation　validation　and　results　analysis.