Abstract: To improve operational accuracy of transplanters in complex field environments, a path tracking controller was designed by integrating a pure pursuit control algorithm with a generalized predictive control algorithm．Main controller was designed using a pure pursuit control algorithm to obtain basic value of front wheel rotation angle of transplanter．Controlled autoregressive integral moving average model of transplanter was identified using the least squares method with forgetting factor．A generalized predictive control algorithm was used to design an auxiliary steering controller, and front wheel rotation angle compensation value was calculated．Basic value and compensation value were summed to obtain final front wheel rotation angle value required for transplanter path tracking．Co-simulation results of CarSim and Simulink showed that proposed control method had average lateral absolute errors of 4.83 and 3.75 cm for S-type and linear path tracking, respectively, which were 34% and 42% lower than before compensation．