Abstract: A disturbance observer-based adaptive sliding mode control method is proposed to address the stability control problem of wheeled mobile robots under speed constraints/torque saturation constraints, while considering uncertainties such as modeling errors and external disturbances.To achieve velocity control under constraints, we establish a fourth-order kinematic model, and design a kinematic controller via the saturation characteristics of hyperbolic tangent function. We design an integral sliding mode controller to address model uncertainties such as modeling errors. Considering the output limitation caused by torque saturation nonlinearity, a dynamic torque regulator based on torque difference is designed. An adaptive disturbance observer based on error signal is designed to achieve real-time estimation of external disturbances. Lyapunov functions is constructed to ensure the global asymptotic stability of the system. The effectiveness of the proposed algorithm is further verified through comparative experiments, and the control algorithm with disturbance observer has higher control accuracy.