The　trajectory　control　is　an　important　link　of　output　performance　for　a　2-DOF　spherical　traveling　wave　type　ultrasonic　motor.　Here,　the　trajectory　tracking　control　was　presented　with　a　2-DOF　spherical　ultrasonic　motor　with　3　stators.　Firstly,　the　minimum　norm　of　the　circumferential　angular　velocity　of　the　traveling　wave　peak　point　on　the　surface　of　the　stators　was　taken　as　an　optimizing　target　for　the　motor.　Then　combination　of　a　single　stator＇s　speed　adjusting　and　the　vector　principle　of　a　motor＇s　operating　was　taken　as　the　model　of　the　motor＇s　operating　mode.　In　order　to　measure　the　attitude　of　the　spherical　rotor,　a　method　to　detect　its　position　based　on　the　operating　principle　of　a　mouse　was　adopted.　Then,　the　phase-difference　of　the　driving　voltage　of　each　stator　was　calculated　with　the　moror＇s　operating　mode.　With　a　neuron　PID　algorithm,　the　closeloop　trajectory　tracking　control　of　the　motor　was　realized.　The　results　showed　that　in　every　direction　the　error　is　controlled　within　2　pulses.　The　study　results　provided　a　reference　for　design　and　performance　improvement　of　multi-DOF　spherical　traveling　wave　ultrasonic　motors.