Abstarct: This thesis, with modeling a differential drive wheeled mobile robot by considering its actuators dynamics, utilizing Taylor series as a universal approximator, designs two different indirect adaptive schemes. The first scheme benefits from a single-loop structure and by compensating parametric uncertainties, and nonparametric uncertainties, also dominating dynamic external disturbances, it guarantees the Ultimately Uniformly Bounded (UUB) stability. While the second scheme consist of a two-loop structure, introduces a fictional control signal in its outer-loop and provides the real control signal in its inner-loop, in addition to prevail dynamic external disturbances and atone parametric uncertainties, and nonparametric uncertainties, it proves the asymptotic stability of the closed-loop system. To validate the control designs, numerous 3D simulations of a wheeled mobile robot with different desired trajectories and multiple initial conditions have been carried out.