Robust Trajectory Tracking Control of Wheeled Mobile Robots

This research aims to improve the performance of wheeled mobile robots in trajectory tracking tasks despite uncertainties and disturbances, such as varying load weights and surface friction, damaged motors, and time delays. Wheeled mobile robots are used in places such as warehouses, factories, hospitals, and restaurants for material handling, transportation, cleaning, and surveillance purposes. The study investigates different types of wheeled mobile robots and proposes advanced control schemes that reduce tracking errors and improve reliability. Ultimately, the research aims to enhance the productivity, efficiency, and energy consumption of wheeled mobile robots in practical applications.