<p>This article proposes the trajectory tracking control issue for a wheeled mobile robot (WMR) subject to disturbance/uncertainty. First, the mathematic model of WMR is established considering the kinematics and dynamics model. Next, the kinematics controller is designed by using backstepping control technique. Then, the dynamics controller is investigated to close the velocity and its desired signal. A time delay estimation-based adaptive integral terminal sliding mode control (AITSMC) is implemented as the dynamics controller to achieve excellent tracking control and eliminate the effects of disturbances and uncertainties. The closed-loop system ensures that the tracking errors remain bounded, according to the Lyapunov principle. Finally, the simulation results validate the effectiveness of the novel method.</p>