Differential tracked robots play a crucial role in various modernized work scenarios such as smart industry, agriculture, and transportation. However, these robots frequently encounter substantial challenges in trajectory tracking, attributable to substantial initial errors and dynamic environments, which result in slow convergence rates, cumulative errors, and diminished tracking precision. To address these challenges, this paper proposes a fuzzy adaptive virtual steering coefficient model predictive control (FVSMPC) algorithm. The FVSMPC algorithm introduces a virtual steering coefficient into the robot’s kinematic model, which is adaptively adjusted using fuzzy logic based on real-time positional error and velocity. This approach not only enhances the robot’s ability to quickly correct large errors but also maintains stability during tracking.The nonlinear kinematic model undergoes linearization via a Taylor expansion and is subsequently formulated as a quadratic programming problem to facilitate efficient iterative solutions. To validate the proposed control algorithm, a simulation environment was constructed and deployed on a real prototype for testing. Results demonstrate that compared to the baseline algorithm, the proposed algorithm performs excellently in trajectory tracking tasks, avoids complex parameter tuning, and exhibits high accuracy, fast convergence, and good stability. This work provides a practical and effective solution for improving the trajectory tracking performance of differential tracked robots in complex environments.

Metaheuristics require sustained global search without sacrificing local refinement, yet many variable-structure methods change operators through one-way iteration schedules. We introduce the Weather State Ants Optimizer (WSAO), in which a discrete-time Markov chain recurrently selects one of three population updates. Sunny, cloudy, and rainy states correspond to global exploration, movement toward nests, and local refinement, respectively. An archive-based mechanism also maintains several spatially separated nests as concurrent search centers. Thirty independent runs compared WSAO with 11 algorithms on 29 CEC2017 and 12 CEC2022 functions. WSAO achieved the lowest Friedman mean rank on both suites, at 2.48 and 2.33. Across five constrained design cases, it joined the leading group by mean objective value on four cases and ranked second on pressure-vessel design. Targeted CEC2022 controls showed that no alternative transition matrix dominated the baseline. Eliminating the trial perturbation worsened every selected function, whereas the contribution of multiple nests depended on the landscape structure. The combined evidence supports recurrent state-controlled search as a competitive framework for continuous numerical and constrained optimization.