A method for steering a tracked machine comprising:receiving a location corresponding to a desired center of rotation of a counter-rotate operation by traveling each track of the tracked machine at the same speed, with one side traveling forward and the other side traveling in reverse; determining an actuation value for each of a plurality of actuators (108, 110, 112, 114; 204, 208, 212, 216) corresponding to an angle of deflection for a corresponding track based on the desired center of rotation; and actuating one or more actuators to rotate one or more of the plurality of tracks to conform to the determined actuation value; receiving a desired path; determining a first arclength in the desired path; determining a center of rotation corresponding to the first arclength; determining an angle of deflection for each of the plurality of tracks to produce the desired arclength; actuating one or more actuators to rotate one or more of a plurality of tracks to conform to the determined deflection; measuring at least one path tracking error from a desired path; converting the at least one path tracking error to a deflection angle at one or more reference points on a construction machine; calculating one or more target reference point angles at the one or more reference points; adding the one or more target reference point angles to the deflection angle to produce a combined attack angle; calculating a synchronized center of rotation based on a line-line intersection derived from the combined attack angle and one or more reference points; actuating one or more actuators to rotate one or more tracks to a corresponding target track deflection; and setting a travel speed for each track based on the synchronized center of rotation. determining an actuation value for each of a plurality of actuators (108, 110, 112, 114; 204, 208, 212, 216) corresponding to an angle of deflection for a corresponding track based on the desired center of rotation; and actuating one or more actuators to rotate one or more of the plurality of tracks to conform to the determined actuation value; receiving a desired path; determining a first arclength in the desired path; determining a center of rotation corresponding to the first arclength; determining an angle of deflection for each of the plurality of tracks to produce the desired arclength; actuating one or more actuators to rotate one or more of a plurality of tracks to conform to the determined deflection; measuring at least one path tracking error from a desired path; converting the at least one path tracking error to a deflection angle at one or more reference points on a construction machine; calculating one or more target reference point angles at the one or more reference points; adding the one or more target reference point angles to the deflection angle to produce a combined attack angle; calculating a synchronized center of rotation based on a line-line intersection derived from the combined attack angle and one or more reference points; actuating one or more actuators to rotate one or more tracks to a corresponding target track deflection; and setting a travel speed for each track based on the synchronized center of rotation. <EOS>