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Aiming to improve the trajectory tracking robust stability of agricultural vehicles, a path tracking control method was proposed based on the linear predictive model. Through the proposed method, the path tracking problem can be divided into two problems: the trajectory planning problem and the trajectory tracking optimization problem with speed and steering angle constraints. Firstly, a dynamic model of the agricultural vehicle was established and discretized to deduce the system error model, based on which the prediction model was obtained for the controller. Then the Lyapunov function was introduced to validate the convergence and robust of the controller. Secondly, an objective function based on system variables and control inputs was coined. And the constraints of system state variables and control inputs were taken into consideration. The optimal control system was transformed into an optimization problem. Finally, the interior point method was brought forward to solve the optimization problem. The Matlab simulation results validated the road tracking ability of the tested road with enough robust performance. When front wheel disturbance was not more than 15° and tracking disturbance in lateral direction was not more than 1.5m, the controller can quickly adjust the vehicle to the reference track. Meanwhile, the corresponding experiments were conducted. It was showed that the maximum lateral tracking deviation was 10.57cm and the mean was 8.49cm with forward speed of 2m/s. During circular sections or after injecting the disturbance, the deviation was significantly increased and the maximum lateral deviation was 23.89cm, but the effective tracking can still be achieved. It can be concluded that the controller can satisfy the requirements of the precision and robustness of agricultural vehicles when the speed was less than 2m/s.