At first, the property of the globule plane control system is analyzed, and the path tracking control problem is divided into sub problems of globule position control and plane angle control. Afterwards, a path tracking sliding mode control algorithm is proposed for the globule position control based on dynamic model of the globule motion system and basic principle of sliding mode control, asymptotical stability of the close-loop system is proved mathematically through Lyapunov stability theory as well. The proposed sliding mode control algorithm liminates the effect of time-varying uncertain friction while the globule is rolling on the plane surface, and thus the path tracking precision is improved. Finally, control performance of the proposed sliding mode control algorithm is validated by simulation experiment.