<p>This paper addresses the trajectory tracking control problem for an underwater Tracked Robot (UTR) under the dual effects of modeling uncertainties, unknown track slipping, and nonsymmetric input saturation. To handle the adverse effects of nonsymmetric saturation, a novel auxiliary system is designed and seamlessly integrated into the backstepping control framework. Simultaneously, an adaptive estimator is developed to online compensation for the velocity degradation caused by the unknown slipping, thereby enhancing tracking precision. Meanwhile, at the dynamic level, a Radial Basis Function neural network (RBFNN) is employed to approximate the uncertain nonlinear dynamics. Through Lyapunov-based analysis, it is proved that all signals in the closed-loop system are uniformly ultimately bounded, and the tracking errors converge to a small neighborhood of the origin. Finally, simulation results are presented to validate the effectiveness and superior performance of the proposed control scheme.</p>