Based on the transverse function approach recently developed by two of the authors for the control of general nonlinear driftless systems, a control strategy for tracking an omnidirectional target with a u­ni­cy­cle-like robot is proposed. An original feature of the approach is the capacity to comply with a target which moves freely in the plane and performs motions which are not feasible by the nonholonomic robot. With respect to a previous publication on the subject, the proposed control solution involves two extensions in order to i) limit the control magnitude and the number of maneuvers when the initial tracking errors are large, and ii) adapt automatically the tracking precision depending on whether or not the target's motion corresponds to a feasible trajectory for the nonholonomic robot. Simulation results illustrate the practical usefulness of these extensions.