Nowadays, wheeled mobile robots (WMRs) are highly applicable in day-to-day real-life activities, and these applications are motivational to look for methods to control the robots properly. Although there are a number of linear and nonlinear control methods that can be used to control the trajectory of the WMR, the performance of most of these controllers relies upon the formulation of accurate and realistic kinematic and dynamic models. Given that WMRs are highly nonlinear multiple input, multiple output (MIMO) dynamic systems with uncertain and time-varying parameters, it is challenging to create an accurate model of WMR, and hence model reference adaptive control, one of the ways to deal with the uncertainties, has been used. MATLAB/Simulink computer simulation results show that the controller is also robust and the tracking errors reach zero asymptotically.