Abstarct: Novel robust controllers for a nonholonomic wheeled mobile robot are presented in this thesis. The controllers are designed baxsed on the voltage control strategy whereas previous controllers are baxsed on the torque control strategy. Compared with torque-baxsed controllers, the proposed controllers are simpler, less computational and more efficient. In this thesis, firstly history of mobile robots are remarked. Then, kinematics and dynamics of the nonholonomic wheeled mobile robot are presented. In continue, adaptive sliding mode controller is designed using the torque control strategy. Then, voltage-baxsed robust controllers surveyed and compared. Herein, simple robust control, optimal control by using a Lyapunov baxsed adaptive fuzzy uncertainty estimator to overcome uncertainty and robust control by employing a gradient baxsed adaptive fuzzy uncertainty estimator are designed and analyzed. The proposed control schemes are simulated for path tracking and their tracking performances are evaluated in the presence of uncertainties. Stability analysis of the proposed control approaches is presented. A comparison with an adaptive feedback linearizing control approach on the control structure and performance is presented. These comparisons show that the voltage-baxsed controllers are less computational and easier to design and analyze. Among them, the robust control scheme using the gradient baxsed adaptive fuzzy estimator is completely free from model and practicable using the tracking error and its derivative.