The control method of passive control theory is put forward,which is aimed on the problem that the external torque disturbance is not stable and the trajectory tracking control precision is low of the the nonholonomic robot.The dynamic model of nonholonomic mobile robot was constructed,and the basic form of space motion control of robot was introduced.By using the passive control method to design the robot end effector,using the Lyapunov synthesis method of passive control,the asymptotic convergence of the closedloop system stability and tracking error was proved.Combined with the specific examples,the tracking trajectory and output torque of the nonholonomic mobile robot with external torque disturbance were simulated by Matlab software,and compared with the proportion integral (PI) control method.The simulation results show that the actual trajectory of the passive control method is convergent,and the tracking error is small,and the output torque ripple is small.The passive control method can avoid the instability of the nonholonomic robot with external torque disturbance and improve the tracking accuracy.