 Abstract—In this paper, trajectory tracking of a differential drive nonholonomic mobile robot is presented. In addition to the complex relations of the control system, the nonholonomic system adds complexity to the system which has been solved using the feed-forward and feedback fuzzy logic controllers. An innovative scheme has been developed to track the reference trajectory in the presence of model uncertainties and disturbances. The performance comparison of the proposed controller is done with the standard backstepping controller and the simulation results show that the developed controller is best suited for the tracking trajectory problems.