Aiming at the problem of longitudinal slippage disturbance in the trajectory tracking control of wheeled mobile robotsan iterative learning control method is studied.Firstlyin order to describe the longitudinal slippage disturbanceslippage parameters are introducedand the kinematic model of mobile robot with longitudinal slippage disturbance is established.Then an open-closed loopP-type iterative learning controller is designedseveral representative slippage disturbances are selected for analysisand the stability of the robot trajectory tracking under different longitudinal slippage disturbances is proved by theoretical derivation.Finallythe effectiveness of the designed controller is verified by a simulation example.