Abstract: To improve the system stability and tracking accuracy of the four-wheel independent steering（4 WIS） unmanned vehicle during path tracking and improve the tire wear, the path tracking control algorithm was proposed based on double-layer control strategy. The upper layer was a model reference adaptive path tracking controller based on Popov hyperstability theory. Based on the two-degree-of-freedom model, the path tracking error state equation was derived. The linear quadratic optimal method was used to solve the problem that the positive linear link of the system was not strictly positive reality. The Popov integral inequality was solved to ensure the hyperstability of system. In the lower layer controller, based on Ackermann steering theorem, the angle allocation control algorithm was designed with considering tire sideslip. The simulation experiment was carried out on the CarSim/Simulink co-simulation platform. The results show that the designed path tracking controller based on double-layer control strategy can realize the path tracking task with high precision and ensure the driving stability of 4 WIS unmanned vehicle to improve the tire wear.