To deal with the model of nonholonomic kinematics for mobile robots

adaptive backstepping control and Lyapunov’s stability theory are applied to the robot trajectory tracking control

an adaptive trajectory tracking controller with global asymptotic stability are designed.The simulation experiment of tracking linear and elliptical trajectory under the proposed controller for mobile robot is performed under Matlab environment.The result shows that this control method has better navigational tracking effect as well as good effectiveness and well adaptability to the nonlinear characteristic of nonholonomic system model of mobile robots.