A high degree of maneuverability in omnidirectional mobile robots, which stems from their holonomic nature, has posed them as an attractive solution in a variety of applications. This paper studies the problem of trajectory control in omnidirectional robots based on practical observations. More specifically, the dynamics of the low-level motor drivers are explicitly incorporated during the development of a hierarchical controller. Lyapunov's stability theorem is then used to analytically derive the control law which could achieve seamless integration of different control structure hierarchies. The simulation results show the effectiveness of the proposed method compared to other commonly-used algorithms. Furthermore, the controller exhibits low sensitivity to model parameter variations despite its model-based nature, which would be a very beneficial feature in practical implementations as it would limit the need for extensive modeling and calibration. The experimental results tested on Omnidirectional Robot are presented to show the further study based on the proposed controller.