The invention discloses four trajectory tracking control methods and trajectory tracking systems corresponding to the trajectory tracking control methods. The basic ideas of the four trajectory tracking control methods are consistent, trajectory information which is obtained through a sensor and described through a variable sensor coordinate system is fixed firstly, that is, after detection, the information is converted to be suitable for being marked in a form of being described by the coordinate system for overall recording the trajectory information, a real trajectory is shown step by step,a basis is provided for the subsequent solution target, finally, according to the target, the ideal state which should be shown by a tool at the current moment is found, or the state about to be achieved when the correction moment of next time arrives after correction of the this time is completed is found, and then an executer is driven according to the above information to correct the trajectory of the tool. According to the four trajectory tracking control methods and the trajectory tracking systems corresponding to the trajectory tracking control methods, errors brought by detecting pointadvancing are overcome, the methods can be separated from teaching information to independently run, position deviation of the tool can be corrected, posture deviation of the tool can also be corrected, and the trajectory tracking effect is good.