Aiming at the trajectory tracking problem of wheeled mobile robot under sliding condition,an adaptive fuzzy control strategy was proposed.The fuzzy state observer was used to estimate and compensate the speed of the unknown complex system model,the position constraint was transformed into the output constraint by designing the output vector,and the Barrier Lyapunov function was constructed to ensure the motion constraint of the robot.On this basis,a simpler longitudinal sliding model was designed,and the stability of the closed-loop system was analyzed by Lyapunov theorem.It is proved that all signals in the closed-loop system are bounded.Finally,the effectiveness and practicability of adaptive fuzzy control strategy in the case of longitudinal sliding of wheeled robot are verified by simulation and experiment.