A　smooth　global　unified　controller　of　trajectory　tracking　and　stabilization　was　proposed　for　nonholomomic　wheeled　mobile　robots　based　on　adaptive　neural　network　control　and　H　∞　control.　Firstly,　the　system　control　inputs　were　expanded　by　transverse　function　method,　a　nonsingular　full　drive　system　which　was　equivalent　to　original　system　was　established　with　decoupled　input-output.　Then　an　adaptive　neural　network　H　∞　controller　was　designed　for　the　new　system,　such　that　the　complex　system　uncertainty　was　compensated　effectively　by　the　adaptive　neural　network.　Disturbances　and　approximation　errors　were　attenuated　with　a　prescribed　disturbance　lever　by　the　H　∞　control.　Adaptability　of　the　controller　were　further　improved,　and　the　control　performance　was　optimized.　The　effectiveness　of　the　algorithm　were　verified　by　simulation　results.　©　2017,　China　Mechanical　Engineering　Magazine　Office.　All　right　reserved.