Aiming at the problem of unknown wheel skidding disturbance in trajectory tracking control of omnidirectional mobile robots, an active disturbance rejection backstepping controller (ADRBTC) is designed. Firstly, the kinematics model of an omnidirectional mobile robot in the presence of wheel skidding disturbance is established; Then, the trajectory tracking controller based on the kinematics model of the omnidirectional mobile robot is designed by combining the active disturbance relection controller(ADRC) technology with the backstepping control technology, and the controller estimates and compensates the sliding disturbance in real time from longitudinal control, lateral control and attitude control, respectively; Finally the stability of the closed loop system is analyzed by using Lyapunov theorem. Simulation results verify the effectiveness and robustness of the proposed control algorithm.