Aiming at the problems of complex environment, insufficient autonomous walking ability and low trajectory tracking accuracy faced by fully automatic transplanter in facility greenhouse operation, a tracked electric-driven mobile platform architecture driven by wheel-side motors was proposed, a multi-degree-of-freedom kinematics model was constructed, a variable time-domain MPC strategy combining with fuzzy control was put forward, and the corresponding TC-MPC controller was designed, the U-shaped trajectory simulation test was completed in Matlab/Simulink simulation environment and verified by greenhouse test.The results of the U-shaped trajectory simulation test showed that when the electric drive mobile platform was tracking the trajectory at three different speeds of 0.6 m/s, 0.8 m/s and 1 m/s, the transverse maximum absolute errors of the TC-MPC controller were 2.55 cm, 3.12 cm and 3.71 cm, respectively, and the transverse maximum absolute errors under the MPC controller were 2.80 cm, 3.73 cm and 4.51 cm, respectively.The U-shaped trajectory test in the greenhouse scene showed that the lateral mean absolute errors of the TC-MPC controller at speeds of 0.6 m/s, 0.8 m/s and 1 m/s were 0.82 cm, 1.12 cm and 1.28 cm, respectively, which were reduced by 21.15%, 17.04% and 15.23% compared with that of the MPC controller.The trajectory tracking effect was significantly improved.The research result can provide a reference for the trajectory tracking control research of greenhouse transplanting electric-driven mobile platform.