Abstract: [Objective] For the application of autonomous sailboats in the collaborative 3D tracking and observation of surface and underwater cross-domain heterogeneous marine robots, researches the trajectory tracking control of autonomous sailboats to realize the collaborative control with AUV, and proposes the trajectory tracking control method based on the model of "Seagull" of Shenyang Institute of Automation, Chinese Academy of Sciences. The trajectory tracking control method based on Model Predictive Control (MPC) is proposed. [Methods] The method is based on the establishment of the dynamics model and the kinematic model of the autonomous sailboat and the improvement of the traditional sail and rudder separation control, and the joint control of the sail and rudder; the MPC objective function and the system constraints are constructed based on the actual situation of the sailboat in the ocean, and the trajectory tracking problem of the autonomous sailboat is transformed into an optimization problem; the MATLAB simulation software is used to simulate the control algorithm. [Results]The simulation results show that the proposed MPC-based autonomous sailboat trajectory tracking control algorithm is easier to add constraints than the original PID control method of sail and rudder separation, and the error magnitude is smaller than that of the original PID control in both wind directions and wind direction changes, and it can converge to the specified trajectory faster and achieve upwind folding. [Conclusion] The research results can provide a reference for the cooperative control of autonomous sailboats and AUVs.