August 14, 2025Open Access

Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots with External Disturbances and Parameter Uncertainties

NANasaruddin M. AliUniversiti Teknologi MARA MSMahmoud ShahiIslamic Azad University, Tehran

Key Points

The designed controller effectively stabilizes the nonholonomic robot's motion and angle under disturbances.
Evaluation of system robustness involved MATLAB simulations that tested its response to external noise.
The methodology was based on dynamic equations formulated using Newton-Euler equations, transitioning into state-space form.
Robustness against parameter uncertainties and disturbances highlights the potential for real-world application in various environments.

Abstract

The system studied in this research is a nonholonomic wheeled mobile robot (WMR) with three degrees of freedom (3-DOF). The goal is to design a fast end-sliding mode control for positioning and stabilizing the system's forward motion and angle. The methodology involves formulating the system's dynamic equations using Newton-Euler equations and then converting them into state-space form. The designed controller is then applied to the system, and external random noise disturbances are introduced via MATLAB simulations to evaluate the system's robustness against uncertainties and disturbances.

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Cite This Study

Ali et al. (Thu,) studied this question.

synapsesocial.com/papers/68af5701ad7bf08b1eadd7e8 https://doi.org/https://doi.org/10.62909/ejeee.2025.003

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