In this study, a sampled-data control method via output feedback is designed for the path tracking system of unmanned agricultural vehicles (UAVs). To begin with, the offset model including the lateral offset and the orientation deviation is converted into a normalized system through implementing a transformation of coordinate. For the system, a linear discrete-time observer is constructed for estimating the orientation deviation. Building upon this foundation, an advanced sampled-data controller with output feedback control is formulated. A Lyapunov stability analysis has been conducted to guarantee that the UAV system can achieve the stabilization under the proposed control strategy. Ultimately, extensive simulation results are given to illustrate the efficacy of the control strategy.