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This paper presents an adaptive control strategy for a class of nonholonomic systems in chained form with virtual control coefficients, nonlinear uncertainties, and unknown time delays. State scaling technique and backstepping recursive approach are applied to design a nonlinear state feedback controller, which can guarantee the stabilization of the closed-loop systems. The simulation results are provided to show the effectiveness of the proposed method.doi:10.1155/2013/520390 fatcat:ixre47grprd2hg4q5mst2abvsi