Abstract: Aiming at the trajectory tracking problem of a class of mobile robot whose centroid and geometric center do not coincide, combined with the inverse sliding mode adaptive algorithm, the trajectory tracking controller of mobile robot is designed. Firstly, a new variable parameter sliding mode reaching law is designed, and the trajectory tracking controller of the wheeled mobile robot is devised based on the new variable exponential reaching law, so that the control system can still track the expected trajectory when the initial error is given. Secondly, for a class of cases with known centroid distance, the inverse sliding mode control is used to design the controller to make the closed-loop system stable. Then, for the unknown centroid distance, an adaptive control algorithm is introduced to estimate the unknown parameters, which is proved by Lyapunov. Finally, through MATLAB simulation, the effectiveness of the designed trajectory tracking controller is obtained.