Tracked vehicle comprising: a frame extending along a longitudinal axis; a plurality of tracks; at least an accessory device selected from a group comprising a blade, a tiller assembly and a winch assembly; and a user interface comprising a control device coupled to the plurality of tracks to drive the advance of the tracked vehicle; and a joystick coupled to the at least accessory device to control the movements of the at least accessory device; wherein the joystick includes a lever configured so that it can be moved, preferably tilted and/or rotated, in any direction with respect to a rest position; the tracked vehicle being characterized in that the joystick comprises a detector assembly configured to detect a movement of the lever with respect to the rest position and to emit an output signal (Su) based on the detected movement; the tracked vehicle comprising a control unit coupled to the at least accessory device to control at least a movement of said accessory device by means of a control signal (Sc) sent to the at least accessory device; the control unit being coupled to the detector assembly of the joystick to receive the output signal (Su), and being configured to output the control signal (Sc) according to a first function (f) and the output signal (Su); and wherein preferably said first function (f) is a non-linear function, and preferably the parameters of said first function are adjustable according to further signals; wherein the lever is coupled to a base so that it can be tilted or rotated in any direction with respect to a rest position; the control unit being configured to control at least one of the accessory devices by means of the control signal (Sc) so that the at least one of the accessory devices does not move if the angular distance between the lever position and the rest position is within a given range of angles of inclination or angles of rotation; the control unit being configured so that the given range of angles of inclination or rotation is dynamically adjustable. a frame extending along a longitudinal axis; a plurality of tracks; at least an accessory device selected from a group comprising a blade, a tiller assembly and a winch assembly; and a user interface comprising a control device coupled to the plurality of tracks to drive the advance of the tracked vehicle; and a joystick coupled to the at least accessory device to control the movements of the at least accessory device; wherein the joystick includes a lever configured so that it can be moved, preferably tilted and/or rotated, in any direction with respect to a rest position; the tracked vehicle being characterized in that the joystick comprises a detector assembly configured to detect a movement of the lever with respect to the rest position and to emit an output signal (Su) based on the detected movement; the tracked vehicle comprising a control unit coupled to the at least accessory device to control at least a movement of said accessory device by means of a control signal (Sc) sent to the at least accessory device; the control unit being coupled to the detector assembly of the joystick to receive the output signal (Su), and being configured to output the control signal (Sc) according to a first function (f) and the output signal (Su); and wherein preferably said first function (f) is a non-linear function, and preferably the parameters of said first function are adjustable according to further signals; wherein the lever is coupled to a base so that it can be tilted or rotated in any direction with respect to a rest position; the control unit being configured to control at least one of the accessory devices by means of the control signal (Sc) so that the at least one of the accessory devices does not move if the angular distance between the lever position and the rest position is within a given range of angles of inclination or angles of rotation; the control unit being configured so that the given range of angles of inclination or rotation is dynamically adjustable.