This article proposes a path-following controller for robotic wheelchairs (RW) used to transport people suffering of severe muscular diseases, taking into account velocity bounds and dynamic effects. A parameterized dynamic model, which considers the person on board the RW, is used. The model parameters normally change, generating structured uncertainties. Moreover, the dynamic model is proposed under some simplifications, introducing unstructured uncertainties. Finally, time-varying dynamics, caused basically by user movements, are also considered. Hence, the dynamic controller proposed is adaptive and robust. Experimental and simulation results show the effectiveness and the good performance of the proposed control system. © 2013 Brazilian Society for Automatics - SBA.