Conditions for Guaranteeing Nonovershooting Control of MIMO Nonlinear Systems With Application to Robot Manipulator

This article investigates nonovershooting tracking control for a class of multiple-input–multiple-output (MIMO) nonlinear systems. Nonovershooting tracking control is desired in various practical situations, yet remains a challenging task with limited existing research. While the MIMO nonlinear system better represents real-world scenarios, the specific algorithm for nonovershooting tracking control has not been previously reported. In this study, a controller is designed to ensure system stability initially, while also achieving a closed-loop system for easy tracking error analysis. By deriving the expression of tracking error, a broad range of nonovershooting tracking conditions is identified through analytical analysis. The proposed nonovershooting control is shown to offer more extensive nonovershooting conditions compared to existing approaches, thereby reducing conservatism. Furthermore, this algorithm eliminates overshoot in MIMO nonlinear systems. Its effectiveness is validated through application to a two-degree-of-freedom robot manipulator.