Proceedings of the 38*

We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustra-tive example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not straightfor-ward, since specifying the reference state-trajectory can be in conflict with not knowing certain parameters. Our exam-ple illustrates this difficulty and we propose a problem for-mulation for the adaptive state-feedback tracking problem that meets the natural prerequisite that it reduces to the state-feedback tracking problem if the parameters are known. A general methodology for solving the problem is derived.