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Aiming at solving the problem of low accuracy and weak robustness in trajectory tracking, this paper presents a novel trajectory tracking control algorithm for unmanned ground vehicle based on compensation control. This algorithm is comprised of two parts:kinematic control and dynamic control. Based on the concept of orientation adjusting, the kinematic control law makes it possible for the unmanned ground vehicle to track a reference trajectory effectively;the dynamic control law based on a PD-model reference adaptive fuzzy sliding mode control (PD-MRAFSMC) method can compensate the influence brought about by extraneous disturbance and inaccurately modeling. The simulation results show that this novel algorithm can effectively track a given trajectory with reasonable controlled variables and good robustness. 