This paper present a design for a control system that will ensure the stability and proper operation of a mobile four-wheeled robot. There are two types of control approaches applied to ensure this robot is stable, that its performance is appropriate, and that modeling errors and uncertainties are minimized. In the presence of external disturbances and parametric uncertainty, this algorithm uses the signals provided by the sensor from the trajectory to follow the predetermined trajectory. It was assumed in previous articles that the upper bound of uncertainty was known. In this paper, we assume that in most cases, we cannot know the extent of the upper band of uncertainties and interferences in robotic systems. This enables us to estimate upper band uncertainties online based on adaptive laws that were included in the law so that the law could be generalized into a robust adaptive sliding mode control. These results can be expressed as distinct theorems under this typology. MATLAB simulations demonstrate that the controller delivers optimal performance under external disturbances and parametric uncertainty with fewer fluctuations.