<p>This article focuses on ensuring both prescribed performance constraints and input saturation constraints of wheeled mobile robots while satisfying prescribed-time convergence, especially under the actuator faults and external time-varying disturbances. Firstly, a prescribed performance function is introduced, and through innovative improvements to the prescribed-time control method, the tracking error converges to the prescribed set within prescribed-time. Secondly, an auxiliary system compensation mechanism is designed to detect saturation in real time and dynamically adjust the control variable. The fuzzy logic system is adopted to approximate uncertain dynamics of the model. In the analysis, to eliminate the impact of actuator faults on system operation, the adaptive laws based on Lyapunov function are designed to estimate and compensate for actuator faults. In addition, a nonlinear disturbance observer is designed to handle lumped disturbances. Based on the Lyapunov criterion, it has been proven that the proposed control strategy can enable the wheeled mobile robots to track the desired trajectory within a prescribed-time, and ensure that all signals in the system are bounded. Finally, the simulation results are compared with other control methods to verify the effectiveness of the proposed control strategy.</p>