The necessary of the thesis In these years, there is a growing recognition that mobile robots have the capability to operate in a wide area and further the ability to manipulate in an automatic and smart way without any actions taken by human. Hence, this project concentrated on researching and developing some control laws for wheeled mobile robots. The researching problems of this thesis The author concentrated on radical control methods in order to deal with wheel slipping whenever there exist slippage, model uncertainties, and external disturbances. Object of study So as to easily demonstrate the validity and performance of the proposed control methods, the object of study was selected to be one three-wheel mobile robot. To be specific, this robot consists of two differential driving wheels and one caster wheel used to make gravity balance. The purpose of researching Proposing a number of radical control approaches so as to cope with the negative effects of model uncertainties, external disturbances, and above all slippage.