Hybrid Control System for Navigation of an Articulated Mobile Tracked Robot

This paper presents a hybrid control system for an articulated tracked mobile robot operating on uneven terrain, combining linear and nonlinear control techniques. The robot is modeled as two subsystems: a tracked mobile platform and a 2D-articulated system, focusing on front and lateral dynamics. A global control structure integrates three controllers: a Backstepping-based controller for X-Y trajectory tracking and yaw, a gain scheduling controller for Z-position and pitch, and a proportional controller for roll stabilization. The system is validated through both simulation and real-world implementation. Results demonstrate accurate trajectory tracking, fast settling time, and strong disturbance rejection, highlighting the system's robustness and practical applicability for articulated tracked robots.