Accepted Manuscript Nonlinear trajectory tracking controller for a class of robotic vehicles Przemyslaw Herman, Wojciech Adamski PII: S0016-0032(17)30275-2 DOI: 10.1016/j.jfranklin.2017.05.040 Reference: FI 3014 To appear in: Journal of the Franklin Institute Received date: 1 March 2016 Revised date: 3 February 2017 Accepted date: 24 May 2017 Please cite this article as: Przemyslaw Herman, Wojciech Adamski, Nonlinear trajectory track- ing controller for a class of robotic vehicles, Journal of the Franklin Institute (2017), doi: 10.1016/j.jfranklin.2017.05.040 This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please note that during the production process errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.