Implementation of a novel non-overshooting tracking control method on a LEGOR® Robot

Recently Schmid and Ntogramatzidis introduced a linear state feedback controller design method to avoid overshoot in the set-point tracking response of linear time invariant systems. In this paper we implement the design method on a three wheeled omni-directional robot, controlled with a LEGOR^® NXT Mindstorm block. The proposed non-overshooting algorithm successfully moves the robot between two fixed points without any overshoot, demonstrating the practical effectiveness of the nonovershooting controller design.