Automatic control of a modified tractor to work on steep side slopes

The main purpose of this paper is to investigate the control and stability of a tractor moving over obstacles on steep side slopes. To this end, a modified slope tractor is considered and the lateral stability of the vehicle is studied. The modified tractor is able to roll against the side slope and change the position of its mass centre. The tractor behaviour in a sloped field on a straight path is simulated in ADAMS software environment. A two-layer controller consisting of a Fuzzy upper layer and a PI lower layer is designed for the control of tractor stability. The dynamics of hydraulic actuators adjusting the body roll angle is also included. The stability of controlled and uncontrolled tractors is investigated by several simulations. It is shown that in comparison with the two types of ordinary and uncontrolled slope tractors, the controller is capable of maintaining the stability of modified tractor and preventing it from rollover and instability on various side slopes and obstacles.