The chapter proposes a robust controller for tracking the trajectory of a wheeled mobile robot with a simple structure and considering external disturbances. Based on the Lyapunov method, a kinematic reverse step controller has been developed to determine the speed of the robot along a given trajectory. The sliding mode controller is used as a dynamic controller to determine the equivalent torque of the left and right driving wheels of the robot and ensure resistance to external influences and parameter changes. A nonlinear disturbance observer is considered to consider the influence of the external environment and estimate disturbances. The stability of a closed-loop system is analyzed using Lyapunov’s stability theory. An experiment was presented in the MATLAB environment and the simulation results demonstrated the high efficiency and robustness of the proposed controller in comparison with the controller based on the proportional-integral derivative.