<p>This paper presents a design of a multi-layered control scheme for mobile robots operating under a leader–follower formation strategy. The proposed methodology combines three interconnected control layers: the first layer introduced a nonlinear body-frame kinematic controller for leader trajectory tracking; the second layer proposed a dynamic-level adaptive fuzzy type two mechanism that copes with system uncertainties for each robot; and the third layer developed a kinematic control algorithm to maintain an accurate formation of follower robots. In the first control layer, a smooth bounded function is introduced to eliminate singularities near zero orientation errors. In the second layer, self-adjusting Gaussian membership functions are included within a novel fuzzy logic mechanism to address and solve the problem of model nonlinearities and uncertainties. The third layer is devoted to improving the followers’ tracking at the kinematic level by developing an adaptive sliding mode control law. A Lyapunov-based stability is strictly analyzed to prove a global bounded convergence of tracking errors. Numerical simulations have been conducted to show the effectiveness of the proposed controllers. Compared to relevant works in the literature, the proposed control formation framework showed better performance and improvement in terms of tracking, formation precision, and robustness against model uncertainties.</p>