Aiming at the trajectory tracking of mobile robot with control parameter uncertainties and external disturbances, a trajectory tracking control algorithm based on smooth nonlinear saturation function adaptive fuzzy sliding mode is presented. The uncertain nonlinear motion control model of mobile robot is established using the adaptive fuzzy logic system constructed adaptive fuzzy sliding mode controller. Using the method of BIBO stability through the adaptive algorithm of fuzzy system for sliding mode control law in nonlinear function is adjusted by using adaptive approximation, therefore the adaptability of trajectory tracking control algorithm for stochastic uncertainty external disturbance is enhanced and the input chattering in sliding mode control algorithm is weakened. The stability and convergence of the control system are proven by using set up the fuzzy system adjustable parameter adaptive control law. The experimental results show that the adaptive fuzzy sliding mode controller is robust to parameter uncertainties and external disturbances. Compared with the traditional sliding mode control, the trajectory tracking algorithm not only can effectively reduce input chattering and tracking control precision is improved by 18.89%.