The problem of trajectory tracking control of mobile robots affected by slipping and sideslipping is studied. In dynamics part

the unknown nonlinearity in the system is approximated by fuzzy system

compensation of slipping and sideslipping interference factors is controlled by H

∞

control

adaptive law of fuzzy parameters is deduced by the Lyapunov function

and adaptive fuzzy controller based on dynamics is designed. In kinematics part

inverse kinematics controller is designed to deal with the error between the actual position and the expected position of the mobile robot

and to get the expected velocity of movement of the mobile robot. Then inverse kinematics controller and adaptive fuzzy controller are cascaded

an

d stability of the control system is proved by Lyapunov method. Finally

it is compared with the adaptive dynamics controller. The simulation results show that the proposed strategy has better trajectory tracking performance under the influence of slipping and sideslipping.