Abstract: This paper addresses the real-time implementation problem for the trajectory tracking of nonholonomic mobile robot. A tracking control scheme is first proposed for general nonlinear systems based on the input/output decoupling technique,and the application of this tracking control method in the two-wheel driven mobile robot is then studied. Furthermore,the implementation platform of a two-wheel driven mobile robot is developed to perform the real-time trajectory tracking algorithms,and the experiment results do show the efficiency of the proposed nonlinear tracking algorithm.