Trajectory control is a very approached subject nowadays. New investments are being applied to discover new ways of transportation that facilitates the locomotion e requires less effort from the conductor. The frequency that new articles and news about the development of autonomous cars by different companies is growing, in spite of this scenario being considered very optimistic by the great companies. This paper focuses on the motion problem of a 4-wheeled omnidirectional robot. It s main purpose is defining a trajectory and speed control system for this vehicle. The approach technique is defining it s dynamic and kinematical model in a space-state system. Then, suggesting a controller for the system. Lastly, utilizing the Simulink, several scenarios will be tested to evaluate the vehicle s behavior in different external influences.