A new approach for the design of nonlinear feedback tracking controllers is presented in this paper. The response of a nonlinear, continuous-time system is first predicted by appropriate functional expansions. Then, a control law is developed by minimizing the local difference between the predicted and desired responses. Closed-loop stability and robustness of the controller are discussed. Some relations and distinctions between the current predictive controller and geometric control approach are explored. The uniqueness of the current control law is demonstrated by successfully solving a class of tracked vehicle motion control problems for which some major existing nonlinear control methods are not applicable.