Under the influence of the systems loads and external torque disturbances,the accuracy of mobile robot path following control is decreased.To solve the problem,a cascaded control strategy for mobile robot path following based on disturbance observer is proposed.On the level of kinematics,based on backstepping methods,position errors are introduced into angular errors,and a globally-convergent speed control law is designed.On the level of dynamics,a nonlinear sliding mode torque controller is designed to follow the planned speed.At the same time,a super-twisting disturbance observer is used to observe the lumped disturbances,and its observation value is introduced into the torque controller to reduce the influence of lumped disturbances on tracking accuracy.The simulation results show that the proposed method has good path following performance and anti-interference abilities.