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To improve the stability and robustness of path tracking based on the high clearance synchronous-steering sprayer, a fuzzy adaptive trajectory tracking control method was designed based on model predictive control theory. Firstly, the nonlinear kinematic model and the simplified kinematic model of the sprayer were derived based on rigid body kinematics and geometric constraints. Then, based on the simplified kinematics model，the state prediction model of the sprayer was established.Finally, the fuzzy adaptive predictive controller was designed according to the actual conditions.Simulation result showed that the fuzzy adaptive predictive controller can improve the stability and rapidity compared with the traditional predictive controller. The experiment results showed that the average error of the method was 0.0442m, 0.0602m and 0.0901m when the linear trajectories, with initial errors are 2.5m and 5m, and circular trajectories were tracke. The established kinematic model can well reflect the movement characteristics of the high clearance synchronous-steering sprayer, and the design of the fuzzy adaptive model predictive controller can guarantee the veracity and robustness of the sprayer path tracking.