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In this paper, the trajectory tracking problem for a wheeled mobile robot in the presence of kinematic and dynamic uncertainties is considered. A nonlinear control approach based on lyapunove stability theory is proposed for this problem. Uncertainties are modeled as lumped disturbances and are estimated by a generalized disturbance observer using Linear Matrix Inequalities(LMI). These estimates are used for control laws design for compensating disturbances. Simulation results show the effectiveness of the proposed method in the presence of uncertainties generated by sliding velocity.