The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints was analyzed. A new trajectory tracking control algorithm was presented based on the kinematic models analysis, the non-singular terminal sliding mode technique was used and the singularity problem was eliminated. The system state vector was designed using backstepping method, this method broke down nonlinear systems into low dimensional systems and simplified the controller design. By combining Lyapunov method, it was proved that under this control law, the mobile robot could track the desired trajectory when the desired velocity satisfied some assumptions. Simulation results validate the theoretical analysis.
