US Patent 7784568 Method and apparatus for controlling tracked vehicles

Apparatus for controlling a track on a tracked vehicle may comprise a drive system, a clutch, a brake, and a track control system to operate the clutch and the brake. A control signal generator operatively associated with the track control system produces control signals that vary at a first rate to cause the track control system to transition the clutch from an engaged state to a disengaged state and produces control signals that vary at a second rate to cause the track control system to transition the brake from an initial application state to a full application state, the second rate being less than the first rate.