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This brief considers the dynamic tracking control of wheeled mobile robots (WMR), in the presence of both actuator saturations and external disturbances. A computationally tractable moving horizon H infin tracking scheme is presented, where a constrained H infin control problem is solved at each sampling time with the update of not only the initial condition but also the prediction model. Closed-loop tracking properties inclusive of L 2 disturbance attenuation are discussed in the framework of dissipation theory. Simulation results are given.