Self-reconfiguration is a critical means to promote the upgrading and emergence of capabilities in mobile robots. However, engineering open scenarios present challenges such as differences in positioning benchmarks and perception characteristics, environmental obstacles, perception range constraints, and nested motion windups. This paper proposes a segmented universal control framework based on composite task decomposition and different benchmark perception characteristics, focusing on long-distance assembly under inertial localization and short-distance docking under carrier-based perception. In the long-distance range, a hierarchical safety constraint mechanism and an adaptive anti-windup strategy are designed to achieve smooth and safe assembly of mobile robots in obstacle environments. In the short-distance phase, adaptive trajectory correction strategies based on safety line of sight and composite nonlinear feedback convergence control forms are introduced to ensure rapid and stable locking combinations with the docked target within the line of sight range. Finally, the effectiveness and feasibility of the proposed approach are validated through physical experiments, and the universal nature of the method provides new solutions for engineering docking scenarios such as unmanned system charging and underwater carrier recovery.