Wheeled mobile robot (WMR) trajectory tracking needs to ensure the WMR attitude tracking accuracy while enhancing its anti-jamming ability, in order to achieve this motion and force coordination control objective, this paper proposes a novel dual-closed-loop layered coordination control structure. Firstly, a Laguerre function is introduced into the outer-loop layer to optimize the traditional model predictive control (LMPC) to generate the desired velocity; secondly, a dynamics controller based on the adaptive integral sliding mode control (AISMC) strategy is constructed by combining with an extended state observer (ESO) in the inner-loop layer to ensure the accurate tracking of the desired velocity and the output of the control torque. External disturbances during the WMR travelling process are estimated and compensated. Finally, the system is simulated, and the results show that the designed dual-closed-loop hierarchical control structure can effectively track the complex trajectory, and can respond quickly and ensure the tracking accuracy under strong disturbances.