Starting from the Madrid theme, one could redefine the footline template (taking immediately into account to suppress the subsections, as it is possible to see from \useoutertheme[subsection=false]{smoothbars}).
Code:
\documentclass[compress]{beamer}
\usepackage{lmodern}
\usetheme{Madrid}
\setbeamercolor{section in head/foot}{parent=palette quaternary}
\makeatletter
\setbeamertemplate{footline}
{%
\vskip-9ex%
\begin{beamercolorbox}{}
\hfill\usebeamercolor[fg]{navigation symbols dimmed}%
\insertslidenavigationsymbol
\insertframenavigationsymbol
\insertsubsectionnavigationsymbol
\insertsectionnavigationsymbol
\insertdocnavigationsymbol
\insertbackfindforwardnavigationsymbol
\end{beamercolorbox}%
\begin{beamercolorbox}[ht=3ex,dp=4ex]{section in head/foot}%
\insertnavigation{\paperwidth}
\end{beamercolorbox}%
}%
\makeatother
\title{My title}
\author{My name}
\institute{My institute}
\begin{document}
\section{First section}
\subsection{a}
\begin{frame}{Title}
hello
\end{frame}
\subsection{b}
\begin{frame}{Another title}
hello
\end{frame}
\section{Second section}
\subsection{a}
\begin{frame}{Title}
hello
\end{frame}
\subsection{b}
\begin{frame}{Another title}
hello
\end{frame}
\end{document}
which gives:
