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This paper deals with the problem of trajectory tracking control of wheeled mobile robots. The leader-follower model of the robots is established, then a nonlinear PID trajectory tracking controller with multivariable decoupling strategy is proposed, including two tracking differentiators(TD) at the input and output ports. To implement this algorithm, a wheeled mobile robots platform is constructed using Arduino Mega 1280 controller as the core, then the PID controller is proposed for the speed control of DC motor, and the software system is developed under the environment of robot operating system(ROS). Finally, experiments on the robot are developed to show the performance of the proposed algorithm, including the comparison with PID controller. The experimental results demonstrate the effectiveness and robustness of the algorithm.