The motion/force tracking control of nonholonomic mechanical systems with affine constraints is investigated in this paper. In the procedure of control design, by flexibly using the algebra processing technique, constraint forces are successfully canceled in the dynamic equations, and then an integral feedback compensation strategy and an adaptive scheme are applied to identify the dynamic uncertainty. It is shown that the proposed controller ensures the position state of the closed-loop system

more »

... asymptotically tracks the desired trajectory and the force tracking error has a controllable bound. Finally, a boat on a running river as a simulation example is given to show the effectiveness of the control scheme.