Vector beams contain complex polarization structures and they are inherently non-separable in the polarization and spatial degrees of freedom. The spatially variant polarizations of vector beams have enabled many important applications in a variety of fields ranging from classical to quantum physics. In this study, we designed and realized a setup based on Mach-Zehnder interferometer for achieving the vector beams at arbitrary points of higher-order Poincaré sphere, through manipulating two eigenstates in the Mach-Zehnder interferometer system with the combined spiral phase plate. We demonstrated the generation of different kinds of higher-order Poincaré beams, including the beams at points on a latitude or longitude of higher-order Poincaré sphere, Bell states for |l| = 1 and |l| = 2, radially polarized beams of very high order with l = 16, etc. Vector beams of high quality and good accuracy are experimentally achieved, and the flexibility, feasibility and high efficiency of the setup are demonstrated by the practical performance.