This article considers a problem of synthezing an object motion control system along a given speed and taking into account the presence of external disturbances. The control object is a mobile robot, which is an all-wheeled drive system that consisting of a platform that is mounted on three omni-wheels. Rotation of this wheels is provided by electric motors. The main approach to solving the problem is about of using a special controller, that called the multi-purpose control structure in the literature. This one allows you to take into account a number of requirements for the dynamics of a closed system. The results of the study are presented in the form of graphics that obtained with using computer simulation.