This paper describes a tracking control system of human motion with Kinect on-board a mobile robot. In the proposed system, the 3D position information of human obtained from Kinect enables us to control the velocity and attitude of the mobile robot directly. Meanwhile, there are noises and occlusion effect on the information of Kinect, the Kalman filter is used to reduce the noise and estimate human's motion state. The mobile robot is controlled to track the moving human in the view of Kinect. The experimental verification result is reported in this paper.