Aiming at the problems of slow response speed, low control accuracy, poor stability, and insufficient robustness caused by the influence of complex environment of collaborative control in agricultural machinery transfer scenarios, a multi-machine collaborative control method is proposed for agricultural machinery formation transfer. The multi-machine collaborative model was constructed in which the host machine drived and navigated manually and the slave machines followed automatically. Based on the Frenet coordinate transformation, the collaborative control was decoupled into horizontal and vertical control, and the longitudinal controller was designed by using the model predictive control algorithm to achieve the maintenance of the relative distance and the following of speed and acceleration among the units, and the horizontal controller was designed by using the pure tracking algorithm to achieve the slave machines to follow the trajectory of the host machine and the introduction of fuzzy algorithm adjusted the key control coefficients to optimize the control effect in real time. Based on the CarSim/Simulink platform to design a variety of transfer typical working conditions on the designed method for simulation test analysis, comparisons showed that compared with the traditional control methods it had a more reliable and superior performance, and based on the intelligent tractor unit to carry out the real vehicle test verification, the results showed that the relative speed error was less than 0.570 m/s, the relative distance error was less than 0.169 m, the acceleration error was less than 0.252 m/s2 ,the lateral error was less than 0.090 m, all of them can gradually and steadily meet the actual needs of agricultural machinery formation transfer.