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To solve the trajectory tracking control problem of tracked mobile robots, firstly, the kinematic model and error model were established. Secondly, a finite-time controller of turning velocity and a sliding model controller of longitudinal velocity were designed for trajectory tracking, and the moving limitation expressions was given as well. Finally, based on Matlab, the simulation comparison results of the designed controllers with moving limitation and without moving limitation were analyzed. And the results show that the designed controller can track the reference circle trajectory effectively, and the controller with moving limitation is closer to fact. The paper studies and analyzes the influence of moving limitation on the trajectory tracking control of a mobile robot, and the analysis results have reference value for the motion control of other mobile robots.