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Tractor–trailer systems have been widely used to increase load transportation capacity. Control of these systems started from motion aid facilities in human-driven vehicles to fully autonomous mobile robots in recent years. In fact, tractor–trailer wheeled robot has been proposed as a modular robotic system in which an actuated mobile robot tows a passive trailer. This is a highly nonlinear underactuated system subjected to nonholonomic kinematic constraints, stable tracking control of which is investigated in this article. To this end, first dynamic model and nonholonomic constraints of the system will be developed in the presence of uncertainties and external disturbances. Next, feasible reference trajectories for the system are generated considering the system constraints, and a Lyapunov kinematic control law is used to stabilize tracking errors. Then, an adaptive dynamic sliding mode controller is presented to …