<p>Nowadays, using mobile robots in different applications has been very important. However, the environment in which they operate can cause the wheels to slip or the robot body to slide, causing the assigned task not to be performed successfully. Therefore, the need arises to mathematically determine these external perturbations to predict the behavior of the mobile robot. Based on the above mentioned facts, this work focuses on obtaining the kinematic model of an omnidirectional mobile robot considering lateral and longitudinal sliding disturbances of the body and wheel slippage. To mitigate the effect of the disturbances, a control strategy is considered based on the design of a generalized proportional integral observer (GPIO) that allows the estimation of such perturbations. Then, an active disturbance rejection control (ADRC) methodology is implemented to solve the trajectory tracking problem, and it is theoretically proved that the tracking errors converge to a vicinity near the origin. Numerical simulations and real-time experiments validate the obtained perturbed model and the control strategy performance, achieving the desired trajectory tracking despite these perturbations.</p>