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

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.