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Aim at the shortages of slow error convergence speed, low accuracy, and poor real-time ability of trajectory tracking control system for wheeled robots, a novel control system is proposed based on Backsteping control algorithm and Lyapunov stability analysis method. In order to study the position deviation of the wheeled robots, the kinematic model is designed. In addition, the Backstepping control algorithm employ a new control strategy for segment virtual control to study and design other indirectly controlled parameters, which greatly improves the efficiency of the algorithm. The Lyapunov law is adopted to analyze the convergence of the system, and in the light of the results of stability analysis to propose a new and simple control law. Finally, Matlab/Simulink is employed to test trajectory tracking control system. The results show that the new control strategy proposed in this paper has higher accuracy, faster convergence speed and better real-time performance than the control strategy based on direct Lyapunov algorithm or iterative learning algorithm.