Conditions for Guaranteeing Nonovershooting Control of MIMO Nonlinear Systems With Application to Robot Manipulator
研究了多输入多输出非线性系统的无超调跟踪控制问题，设计了一种控制器，通过推导跟踪误差表达式得到更广泛的无超调条件，并在两自由度机器人操作臂上验证了有效性。
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.