Dataset contains MATLAB/Simulink code and simulation output/figure scripts to reproduce the results of the manuscript “Trajectory Tracking Control of Wheeled Mobile Robots subject to Position and Velocity Constraints”.

It contains MATLAB/Simulink source codes, controller and plant implementations, parameter-setting scripts, and figure-generation scripts, together with exported figure files (EPS/FIG) for reference. The simulations address trajectory tracking control of a wheeled mobile robot (WMR) under position and velocity constraints (with auxiliary/compensation signals when applicable), and produce trajectories, tracking errors, velocity profiles, and control-related signals.Dataset structure: (1) code/: core MATLAB functions and Simulink models (.slx), including the parameter-setting script (e.g., A_wmr_parameter_all_setting.m), the simulation entry script (e.g., wmr_run.m), and controller/plant-related functions.

(2) plots/: scripts for generating the figures in the manuscript (e.g., A_WMR_plot_figure.m and A_wmr_plot_*_compare.m). (3) figures/: exported figures (.eps/.fig) for comparison with the manuscript (optional).How to use: MATLAB/Simulink R2020b (or later) is recommended. Set the folder code/ as the working directory, run the parameter script first, then execute the simulation entry script, and finally run the plotting scripts to obtain the figures consistent with the manuscript.