Abstract: In order to realize high-precision real-time tracking of a given trajectory, a layered cycle MPC controller is designed. The dynamic model and state space model of 6-DOF manipulator are established. Controller is designed from two level, that is minute level controller and second level controller. The minute level controller is realized by MPC control to improve the tracking accuracy of the given trajectory; the second level controller is implemented by PID control to improve the real-time performance of the control. The control results of the second level controller are fed back to the minute level controller. The minute level controller optimizes the control law in real time and hierarchical cycle control is realized. The simulation results show that the SSE of manipulator end trajectory under PID control is 1 840.9, and SSE of manipulator end trajectory under layered cycle MPC control is 1 221.3, which is 33.66% less than that of PID control, which indicates that hierarchical cycle MPC control has higher tracking accuracy. The control time of PID control is 0.34 s, and that of hierarchical MPC is 0.08 s, which is more than 4 times less than that of PID control. The above data show that the control effect of layered cycle MPC controller is better.