To address the difficulty in coordinating path tracking accuracy and lateral stability of multi-axle steering vehicles under complex conditions such as high-speed driving and low-road adhesion, this paper proposes a path-stable tracking control method that integrates fuzzy control with integral sliding mode control. The proposed method calculates the front-wheel steering angle based on a driver preview model to track the desired path, and obtains the desired yaw rate and desired sideslip angle through a linear two-degree-of-freedom vehicle model. In the controller design, the yaw rate error and sideslip angle error are weighted and combined into a composite control error, based on which an integral sliding mode controller is constructed. Active rear-axle steering is then used to coordinate path tracking performance and vehicle stability. A fuzzy controller is further introduced to adjust the weighting coefficient online according to vehicle state errors, thereby improving the adaptability of the controller under different driving conditions. Simulink-TruckSim co-simulation results show that, under the high-speed and high-adhesion condition, compared with the conventional sliding mode control method, the proposed method reduces the maximum, average, and root mean square path tracking errors by approximately 26.5%, 43.3%, and 28.3%, respectively. Under the medium-speed and low-adhesion condition, the average and root mean square errors are reduced by approximately 24.2% and 3.8%, respectively. A low-speed double-lane-change real-vehicle test further verifies the feasibility and path tracking effectiveness of the proposed method.