The invention discloses a tracked unmanned vehicle trace tracking controller design method based on a kinematic model, and belongs to the technical field of vehicle control. The method includes the steps: firstly, building a state-space equation according to the kinematic model of a slip tracked vehicle; secondly, performing standard quadratic transformation according to a set target function; finally, calculating a new control sequence through the target function optimization process by a system in a next control period T, and repeatedly performing rolling optimization to realize trace tracking control. According to the method, a built controller has good tracking capacity for continuous and discrete point paths, particularly, running speed is stabilized near expected speed in the low-speed tracking process, linear tracking steady-state errors approach to 0, and running traces are smooth.