Navigation is a great concern for autonomous vehicles. In this paper, we present a control technique for trajectory tracking by the autonomous vehicle. We designed an augmented vehicle model composed by the bycicle model dynamics and a simplified steering model. For maintaining the vehicle in the desired trajectory, a Robust Model Predictive Control (RMPC) technique was implemented using Linear Matrix Inequalites (LMIs). Simulation results are presented for the Double Lane Change maneuver.