In the present research, the control non-holonomic wheeled mobile robots in tracking a desired trajectory, when they are exposed to disturbances, unmodeled dynamics and uncertainties has been carried out. In section 1, given the existence a term under the title of Disturbance and unmodeled dynamics in robot model, a controller is designed to be resistant against the disturbance in robot models. Then by supposing the lack information about the dynamic model matrices robot, a sliding-mode—control-based adaptive cruise controller is designed in such a way that leads the robot to track a predetermined desired trajectory without using the values the system matrices. Combining two robust and adaptive controllers and creating an adaptive controller resistant to disturbances in the system was the next achievement the article. Finally, in order to consider the condition operator saturation, the adaptive control law is designed such that given the uncertainty in robot dynamics and also the limitation in the input torque, the mobile robot continues to track a predetermined desired trajectory. The results the numerical simulation support the validity the proposed control methods.