<p>This paper investigates adaptive fuzzy command filtered (AFCF) control for switched nonlinear systems, especially in the presence of external disturbances, prescribed performance requirements, and input saturation occurring simultaneously. Compared with the design method of nonlinear disturbance observer for non-switched systems, a new piecewise switched nonlinear disturbance observer (PSNDO) method is proposed, which not only satisfies the switching characteristics but also is suitable for disturbance estimation of switched systems. To achieve better transient performance, especially in the presence of external disturbances and input saturation, the AFCF control with prescribed performance is developed. Note that input saturation, computational explosion, and uncertain nonlinearity are considered in switched nonlinear systems, and they are solved by auxiliary design function, command filter, and fuzzy logic systems. Finally, a novel PSNDO-based AFCF control is proposed to ensure that the closed-loop signal is bounded, the tracking error does not violate predefined values, and the disturbance estimation error converges to a small neighborhood of the origin. Meanwhile, numerical and practical examples are considered to verify the proposed method in the simulation.</p>