说明：  本人写的利用backstepping算法设计的移动机器人轨迹跟踪控制器matlab源代码，包里面有四种轨迹，分别是直线、圆、椭圆和不规则轨迹，希望能够对研究此方向的朋友有所帮助。
(I write using backstepping algorithm design of mobile robot trajectory tracking controller matlab source code, there are four types of packet paths are straight, round, oval and irregular track, hope to be able to research in this direction will help a friend.)