Nonovershooting Tracking Control for Strict-Feedback MIMO Nonlinear Systems

This paper addresses the problem of non-overshooting trajectory tracking control for multi-input multi-output (MIMO) strict-feedback nonlinear systems. The study extends the scope of non-overshooting tracking control (NOTC) theory from single-input single-output (SISO) nonlinear strict-feedback systems to the MIMO case, thereby enhancing its theoretical significance. The key contributions of this work include: 1) Refining the proof process for problem formulation; 2) Deriving the control law via the backstepping method; 3) Establishing the conditions for non-overshooting tracking control. By appropriately selecting the initial values of system state variables and control parameters (as derived in the paper), the tracking error between the system output and reference trajectories can be maintained below zero (non-overshooting). Finally, simulation results validate the effectiveness and feasibility of the proposed algorithm under the derived conditions.