<p>A sliding mode controller for wheel mobile robots to follow a predefined trajectory on the basis of studies of kinematic and dynamic modeling is designed. The chattering issue of the sliding mode controller is always a critical weakness affecting both the system and the stability of the robot during trajectory tracking. This paper also focuses on constructing a kinematic model to provide velocity robot input into the sliding mode controller. The model follows the reference velocity and tracks a reference trajectory derived from the dynamic model synchronously. Addressing both velocity and trajectory enables the optimization of path length and robot stability. To achieve this, the controller must handle environmental disturbances and uncertainties in the system, such as unexpected errors in the design or mechanical fabrication of the system. The stability of the control system is initially evaluated via Lyapunov stability theory. The effectiveness of the model is evaluated through MATLAB/Simulink simulations which consider various levels of trajectory complexity and noise disturbances.</p>