The problem of control for the mobile cart with two traction rear wheels and free front wheel is considered in the paper. The traction wheels are governed by two mechanically independent direct current drive motor. The free wheel can turn around your mounting point. The problem of the desired path following with given linear velocity is stated in the paper under assumption that mobile robot is interfered by external perturbations, which physically represent the external force actions, wind blowing, friction force and so on. Due to this aim, the combined control law, which consists of continuous and discontinuous components, is synthesized in the paper. The discontinuous term provides oscillation mode of the transient process in the closed system, and continuous component leads to decaying of the oscillation amplitude of the output variables asymptotically to zero. The simulation results depict the efficiency of the designed algorithm.