An anti-windup model-free adaptive integral-terminal-sliding-mode control scheme is proposed for the tracking problem of wheeled mobile robot (WMR) with input saturation constraint. The scheme builds an online data-driven model of WMR system based on the compact-format dynamic linearization technology. In the design procedure of the integral-terminal-sliding-mode controller, the dynamic anti-windup compensator is introduced to solve the actuator saturation problem in the WMR system trajectory tracking process. The design of the proposed control scheme only depends on the input data and output data of the controlled system, and it does not involve any model information of the WMR. Therefore, this scheme can be implemented for different types of WMR systems. Finally, a simulation comparison among the proposed scheme and proportion integration differentiation (PID) control algorithm is given. The results show that the proposed algorithm has smaller tracking errors and more rapid responses than the PID control scheme.