The paper considers the problem of a mobile two-wheeled robot control in the task of
tracking a given position on the plane. The main idea is based on the use of multi-level decomposition
during the synthesis of the control law. A distinctive feature of the considered problem statement is
consideration of the actuators dynamic and the influence of external unknown disturbances. Using the
synthesized control law, the asymptotic convergence of the robot to the path defined on the plane is
ensured.