To achieve the performance of high-precision and fast convergence for the trajectory tracking of a mobile robot, a trajectory tracking control method based on the integral terminal sliding mode and sliding mode observer(SMO) is addressed. Firstly, considering that the mobile robot would be affected by the side-sliding disturbance caused by the wet ground and frictions in the actual moving process, the kinematic model under the influence of the disturbance is established. Then, a sliding mode observer is developed using the dynamic model to estimate the disturbance of the system, and the estimated disturbance value is passed to the feedback controller to suppress the influence of the disturbance on the control performance of the system, so as to achieve the purpose of weakening the chattering. At the same time, an integral terminal sliding mode surface is devised on the basis of the tracking error, and integrating the sliding mode surface and disturbance estimations, a new integral terminal sliding mode controller is constructed. Finally, the stability of the whole closed-loop system under the present control method is also guaranteed using the Lyapunov stability theory. Simulation and experimental results show that the recommended controller has higher tracking accuracy and stronger robustness.