The invention discloses a cascading system theory-based track tracing control method of a wheeled mobile robot. The cascading system theory-based track tracing control method comprises the steps of firstly, building a three-degree of freedom kinematic model of the wheeled mobile robot under a Cartesian coordinate system, and giving an expected track kinematic expression form by the robot kinematicmodel; secondly, introducing a pose error, and building a track tracing error system kinematic model by global coordinate conversion; and finally, designing a track tracing control method according to a cascading system theory, and selecting an appropriate control parameter so that a closed-loop track error system globally approaches to stability, a tracking error approaches to 0 and real-time and accurate tracking of expected motion track by the robot is achieved. The cascading system theory-based track tracing control method is simple in form and high in practicability, the tracing of the wheeled mobile robot on the expected motion track can be effectively achieved, and the cascading system theory-based track tracing control method has very wide application prospect.