Simulation of an articulated tractor-implement-trailer model under the influence of lateral disturbances

This paper presents the derivation of the mathematical model for a three-body articulated agricultural vehicle such as a tractor that drags behind two agricultural implements connected in series. It is then used in a simulation to study the effects of slippage. The model is developed with the aim of designing robust controllers that ensure high-precision path-tracking control of such articulated systems. In the simulations, the model was subjected to real conditions experienced in agricultural applications such as disturbances and uncertainties due to ground undulation, gravitational forces due to sloping ground, and lateral wheel slippage. The implement attached to the tractor is assumed to be steerable to enhance the path-tracking capability. This work aims to provide an insight in to the articulated tractor behaviour under the influence of real life farming condition.