The paper presents a control architecture in order to control the trajectory tracking of a robot a mobile robot with non-holonomic differential wheels (DWMR) using the kinematic model of the DWMR with different trajectories. a description of the robot is presented followed by a hard robot model and a brief presentation of the ROS system to control the real robot thereafter. a nonlinear controller that provides stability according to Lyapunov function is formulated followed by a 3D simulation under Gazebo software and real simulation on the robot with different trajectories. Finally we presented the results which clearly shows the efficiency of our control approach followed by prospects for future work.