The invention relates to a wheeled mobile robot control method. The method is characterized by comprising the following steps of 1, establishing a kinematic model of a wheeled mobile robot; and 2, establishing a double closed-loop system and tracking the position track and angle of the mobile robot through a nonsingular terminal sliding mode and generalized type-2 fuzzy combined method, specifically, tracking the position track of the mobile robot by the outer loop of the double closed-loop system, tracking the angle of the mobile robot by the inner loop of the double closed-loop system, taking a sliding mode surface as control input of a fuzzy system by both the outer loop and the inner loop, taking the output of the fuzzy system as a sliding mode reaching law parameter, and designing theconvergence speed of the inner loop to be higher than the convergence speed of the outer loop. The invention discloses the wheeled mobile robot control method, particularly relates to a double closed-loop control system; and through a generalized type-2 fuzzy control and sliding mode control combined method, the external interference resistance is improved and the systems stability is enhanced.