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For kinematics and dynamic model of nonholonomic mobile robot, according to the need of trajectory tracking control target, this paper designs a simple controller, which includes a kinematics controller and a dynamic controller. For the kinematics model, this paper uses the adaptive algorithm to estimate the unknown parameters. For the dynamic model, this paper uses the monolayer neural network algorithm to overcome the effect of unknown disturbance for system stability as far as possible and reduce the velocity error. On the basis of theory of Lyapunov stability, the convergence and stability of system are proved. The algorithm is simple and effective, and it is easy to implement。 The simulation results show that the control method can achieve the stable tracking for the desired trajectory of the mobile robot and demonstrate the effectiveness of the algorithm.