Abstract: We investigate the leader-follower trajectory tracking control problem for wheeled mobile robots, and develop a PID controller based on direct feedback linearization (DFL). First, we establish a kinematic model for a single-wheeled mobile robot by motion analysis. Then, we present a kinematic model for the leader-follower trajectory tracking control system. On the basis of the established model, we design a PID controller with DFL strategy. Simulations and experiments demonstrate that the PID controller is easy to implement and preserves certain advantages in disturbance rejection.