MATLAB/Simulink code and simulation scripts for reproducing figures and results of "Trajectory Tracking Control of Wheeled Mobile Robots subject to Position and Velocity Constraints"

Overview
This repository provides the MATLAB/Simulink implementation used to reproduce the simulation results reported in the manuscript entitled
“Trajectory Tracking Control of Wheeled Mobile Robots subject to Position and Velocity Constraints”.
The dataset includes: (i) Simulink models, (ii) MATLAB scripts for parameter settings and controller/plant functions, and (iii) plotting scripts and exported figures.

Folder/File Structure (typical)
- code/: MATLAB functions and Simulink models (.slx), including A_wmr_parameter_all_setting.m and wmr_*.m
- plots/: plotting scripts, e.g., A_WMR_plot_figure.m and A_wmr_plot_*_compare.m
- figures/: exported figures (.eps/.fig) (optional)

Software Requirements
MATLAB/Simulink R2020b or later (recommended)
Required toolboxes: Simulink (mandatory). Other toolboxes are not mandatory unless MATLAB reports missing dependencies.

How to reproduce the results
1) Add paths:
addpath(genpath('code'));
addpath(genpath('plots'));
2) Run parameter initialization:
run('code/A_wmr_parameter_all_setting.m');
3) Run simulation:
Open and run the Simulink model a_wmr_sim_my_paper.slx (or a_wmr_sim_ref_paper.slx for baseline comparison).
4) Generate figures:
Run plots/A_WMR_plot_figure.m (or other scripts in plots/ as needed).

Baseline comparison
Files with suffix *_ref_paper.* (e.g., a_wmr_sim_ref_paper.slx and a_wmr_plot_figure_ref_paper.m) are used to generate baseline comparison results.
The baseline controller/model is independently implemented by the authors following the method described in:
[1] Tianjiao Chen, Zixing Zhao, Qu Zhao, Yi Yao, Runzhi Zhou, and Yanling Shang, “Fixed-time trajectory tracking control of nonholonomic WMRs subject to spatial constraint,” IAENG International Journal of Computer Science, vol. 50, no. 3, 2023.
No third-party code, datasets, or proprietary materials from the cited work are included or redistributed in this dataset.

Notes
- If any file cannot be found, please ensure the “code/” folder is added to the MATLAB path.
- If Simulink reports missing blocks/functions, verify that all “wmr_*.m” and “yakebi_matrix*.m” files are included and paths are set correctly.
- Test and temporary scripts are not required for reproducing the manuscript results.

Citation
If you use this dataset, please cite the associated article (and the dataset DOI provided by the repository).

Contact
Corresponding author: Jianjun Bai
Email: [e-mail]

概览
本代码仓库提供了MATLAB/Simulink实现代码，用于复现题为《受位置与速度约束的轮式移动机器人（Wheeled Mobile Robots）轨迹跟踪控制》的学术论文中报告的仿真结果。本数据集包含：(i) Simulink模型；(ii) 用于参数设置、控制器与被控对象函数编写的MATLAB脚本；(iii) 绘图脚本与导出的仿真图形。

典型文件夹与文件结构
- code/：存放MATLAB函数与Simulink模型（.slx格式），包含A_wmr_parameter_all_setting.m与wmr_*.m系列文件
- plots/：存放绘图脚本，例如A_WMR_plot_figure.m与A_wmr_plot_*_compare.m系列脚本
- figures/：存放导出的仿真图形（.eps/.fig格式，可选）

软件需求
MATLAB/Simulink R2020b及以上版本（推荐使用该版本）
所需工具箱：Simulink为强制依赖项。其余工具箱为非强制依赖，仅当MATLAB提示缺失依赖时需额外安装。

结果复现步骤
1) 添加路径：
addpath(genpath('code'));
addpath(genpath('plots'));
2) 执行参数初始化：
run('code/A_wmr_parameter_all_setting.m');
3) 启动仿真：打开并运行Simulink模型a_wmr_sim_my_paper.slx（如需进行基线对比，可运行a_wmr_sim_ref_paper.slx）。
4) 生成仿真图形：运行plots/A_WMR_plot_figure.m（或根据需求运行plots/目录下的其他绘图脚本）。

基线对比
后缀为*_ref_paper.*的文件（例如a_wmr_sim_ref_paper.slx与a_wmr_plot_figure_ref_paper.m）用于生成基线对比结果。本基线控制器/模型由本文作者依据下述文献中的方法独立实现：[1] Tianjiao Chen, Zixing Zhao, Qu Zhao, Yi Yao, Runzhi Zhou, and Yanling Shang, “Fixed-time trajectory tracking control of nonholonomic Wheeled Mobile Robots (WMRs) subject to spatial constraint,” IAENG International Journal of Computer Science, vol. 50, no. 3, 2023.
本数据集未包含或重新分发任何来自引用文献的第三方代码、数据集或专有素材。

注意事项
- 若出现文件缺失，请确认已将code/文件夹添加至MATLAB路径。
- 若Simulink提示缺失模块或函数，请确认已包含所有wmr_*.m与yakebi_matrix*.m文件，并正确配置路径。
- 复现论文结果无需使用测试脚本与临时脚本。

引用说明
若使用本数据集，请引用关联学术论文（以及本代码仓库提供的数据集DOI标识）。

联系方式
通讯作者：白建军
邮箱：[e-mail]