In this paper, the tracking control problem is investigated for wheeled mobile robot systems in the presence of actuator saturation. To handle the tracking control problem with input saturation, a model predictive control scheme is developed via the feedback linearization. The feedback linearization control law is designed to linearize the nonlinear model which allows the application of a discrete time linear model predictive control algorithm. Simulations are provided to illustrate the effectiveness and the improved performance of the developed nonlinear model predictive control scheme for WMR with input constraint.