The traditional control method of wheeled robot has the problem that system is unstable due to the inconsistency between the actual state and the target state. Therefore, this paper proposes a double closed-loop control strategy based on trajectory tracking considering global stability. Initially, a comprehensive kinematics model is formulated. Based on the kinematics model of the system, the controller is designed to ensure the Lipchitz condition of position tracking closed-loop system, so as to ensure that stability of the system. Subsequently, the stability of the controller is validated through the application of Lyapunov stability theory. Finally, the effectiveness of the control strategy is verified by simulations.