The invention discloses a method for AGV trajectory tracking control based on U model optimized SMC, including the following steps: step 1: establishing a motion model of AGV under global coordinate system, comparing the current pose state of AGV with the current expected pose state to obtain a pose error differential equation; Step 2: designing a switching function of AGV trajectory tracking sliding mode control based on the pose error differential equation; Step 3: selecting an isochronous approaching law based on a continuous function according to the approaching motion of the AGV system, and obtaining a trajectory tracking sliding mode controller; Step 4: determining that the pose error differential equation of the AGV motion model is the controlled object, and converting the dynamics of the controlled object into 1 through the U model control idea, that is, adding the dynamic inverse of the AGV motion model before the controlled object to form a closed-loop control system of the sliding mode trajectory tracking controller, the U model and the controlled object. The present invention greatly reduces the computation time, eliminates the deviation jitter of the AGV system during stable operation, and improves the speed of trajectory tracking.