Abstract
This work presents the derivation of a comprehensive
mathematical model for an off-road vehicle such as an
agricultural tractor that drags behind it a heavy implement. The
models are being developed with the aim of designing robust
controllers that will enable the high precision control of the
implement’s trajectory. The developed model is subjected to real
conditions, such as ground undulation and uncertainty, sloping
terrain, tyre slippage, and constrained steering of the tractor.
The implement is assumed to possess independently steered wheels for aiding in implement alignment. A complete model is presented and simulated under varying conditions. Primarily this work demonstrates and validates the trailed vehicle system behavior when the trailing implement is subjected to large drag forces due to ground engagement and the significantly large lateral disturbances that occur in real life broad acre farming conditions.