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First, based on the vehicle\u2019s kinematics, the reference linear and angular velocities are evaluated. The kinematic controller is proposed as an integrated backstepping controller. Then, based on vehicle dynamics and slipping characteristics, an integral sliding mode control is utilized to get the desired vehicle drive torques and converge its trajectory to the desired one. Whereas the controller gains are optimally calculated. Furthermore, based on the Lyapunov stability, the proof of stability for proposed controllers is presented. Finally, simulation results are conducted to validate the effectiveness of the proposed control algorithm compared with a hybrid backstepping-modified proportional\u2013integral\u2013derivative dynamic controller and a nonlinear feedback acceleration controller. <\/jats:p>","DOI":"10.1177\/09596518211037768","type":"journal-article","created":{"date-parts":[[2021,8,16]],"date-time":"2021-08-16T06:55:00Z","timestamp":1629096900000},"page":"620-633","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":12,"title":["Dynamic modeling and optimized trajectory tracking control of an autonomous tracked vehicle via backstepping and sliding mode control"],"prefix":"10.1177","volume":"236","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2594-1942","authenticated-orcid":false,"given":"Ahmed D","family":"Sabiha","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Military Technical College, Cairo, 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