Several biomedical applications can be achieved using two-magnet driving microrobots since they are easy to manipulate and can be accessed within complex microenvironments. To precisely control the movement of microrobots actuated by two permanent magnets, an event-triggered sliding mode control (SMC) technique is presented. This technique uses a minimal amount of control force and eliminates the external disturbances. It shows the microrobots are attracted toward the sliding surface and remain within it despite disturbances. In addition, this paper explores the stabilization of microrobots under input constraint. Finally, simulation results are used to demonstrate the efficiency of the proposed theory.