This paper studies application of Kinect camera in a human robot interaction problem. We propose a mathematical framework to cope with a control of non linear robotic system taking into account limitations on both Kinec and robot actuators. in fact, the human to be tracked has to remain inside a prescribed field of view, determined by the range of the sensor the mobile
robot is equipped with. Moreover, the limited actuation power of the system constitutes the control input constraints. This work proposes a nonlinear control that takes into account these
limitations and guarantees the boundedness of the tracking error, provided that the initial position of the human with respect to the mobile robot belongs to a certain compact set
and that its speed is bounded.