Aimed at the trajectory tracking control problem for the kinematics model of three-wheeled AGV with nonholonomic constraint, a cascade tracking control algorithm was proposed. The algorithm broke the system down into two nonlinear time-varying systems and finally realized the global asymptotic stability of the control system using cascade control method and state derivative feedback control method. Furthermore, the noise problem of state estimation was solved successfully by using a Kalman filter, which improved the localization precision and enhanced the control effectiveness. The designed control algorithm is of strong robustness and generality for kinematics model of other wheeled mobile robots. Computer simulation results showed that the system can be stable in a short time which verifies its effectiveness. 