To enhance the target tracking capability of wheeled mobile robots ( WMR) in complex environments, particularly in the presence of disturbances such as sideslip and slippage, this paper proposes a self-adaptive disturbance rejection control method based on a hyperbolic tangent line-of-sight guidance strategy. First, by analyzing the sideslip and slippage phenomena of WMR, a kinematic and dynamic model of WMR under disturbances is established. Then, a hyperbolic tangent line-of-sight guidance strategy based on a partition switching mechanism is proposed to improve the dynamic response capability of tracking. Subsequently, a self-adaptive disturbance rejection control algorithm is designed, leveraging the dynamics of the WMR and employing an extended state observer to estimate and compensate for unknown disturbances such as sideslip and slippage, to achieve the target tracking task. Simulation and real-world experimental results show that the proposed method offers higher tracking accuracy and stronger disturbance rejection capability in complex environments. In actual tests, WMR quickly returned to the target tracking path after simulated slippage tests, with tracking errors stabilized within 0. 025 meters, thereby verifying the effectiveness of the proposed method.