<p>This study proposes a new control algorithm based on the optimization of the conservation of traction power and efficient use of energy, which is adaptable to changing the tillage conditions. The proposed control algorithm is called the Tillage and Energy Control System (TECS). In this study, a cultivator was taken as a tillage tool. The optimized control speed is assigned to the vehicle by observing the slip rate that may occur in the wheel during the plunging and traction of the cultivator, which is the most important parameter of TECS. The traction optimizer obtained the optimal traction models a function of the traction ratios related to maximum traction and energy efficiency using experimental data on the traction-terrain interaction at different soil conditions. The optimal traction models were used to determine the desired value of traction by observing changes such as traction and slippage in real agrobot robots a control input in the traction controller. The traditional PID controller and Fuzzy Inference System model are used for optimal traction control. The proposed traction controller has been developed by compensating for the change in soil spectrum, the impact of stones during tillage, and the noises in the controller. Finally, TECS was experimentally verified by controlling a four-wheel skid steer robot prototype.</p>