Abstract: In this article we use artificial fields to steer and control the steering angle of a nonholonomic dynamic system, and a linear velocity control law is assistantly derived to find the optimal convergent trajectory.The proposed approach can be used to realize arbitrary point-to-point stabilization,trajectory tracking and path following, and it's also simple and easily applied compared to classical and existed such controllers.Because dynamic disturbance or uncertainties are taken into consideration, it has robustness property.