Aiming at the trajectory tracking problem of nonholonomic wheeled mobile robots with unknown kinematic parameters and uncertain dynamic models, a robust adaptive controller is designed based on Radical Basis Function neural network. Firstly, considering the unknown kinematic parameters of the mobile robot, a kind of kinematic controller with adaptive parameters is proposed to compensate the system error caused by parameter uncertainty; Secondly, by using neural network control technology, a robust dynamic controller is put forward to solve the problem of uncertain dynamic model of the robot in motion, so that the mobile robot can track the target trajectory without knowing the specific dynamic model; Finally, the stability of the whole system is proved by using the Lyapunov stability theory. Simulation results demonstrate the effectiveness of the designed controller.