Control of wheeled mobile robot has been studied extensively in recent years. However, control of wheeled mobile robot on shaking environments has not been studied so far. In this situation, this paper proposes a new control system for trajectory control of mobile robot which frequently accelerates and decelerates on shaking environments. To achieve the accurate control under disturbances, we adopt a model reference adaptive control approach which utilizes the internal model principle in order to control reject the effect of the disturbances. The effectiveness of the proposed method is verified by extensive simulations with the actual disturbance.