Dynamic Modeling and Control of a Articulated Tractor with Implement

Abstract

The present work carries out an analysis of an articulated tractor with front steering coupled to an agricultural implement (such as a sprayer or a seeding machine). The model of this system is developed here, first in cinematic terms and then in dynamic terms. Using the predictive control technique, the control actions that allow the implement to travel a reference trajectory are calculated. Numerical simulations are used to illustrate the behavior of the system and the implemented controller.