This paper proposes a control strategy to achieve high accurate path tracking in off-road conditions. The approach is based on adaptive and predictive techniques to account for sliding effects and actuator properties. An extended kinematic model is designed using sideslip angles definition. An observer is proposed to estimate online these variables, independently from the reference path and robot velocity. Thanks to the proposed approach, high accurate path tracking can then be achieved whatever the shape of the reference path and the task to be achieved (practical stabilization or moving object tracking).