PATH TRACKING CONTROL OF TRACTORS AND STEERABLE IMPLEMENTS BASED ON KINEMATIC AND DYNAMIC MODELING

Precise path tracking control of tractors and implements is a key factor for automation of agriculture. Path tracking controllers for tractors are highly developed and the focus is now on precise control of implements. Most recently the attention was drawn to implements being equipped with steering actuators themselves. For control of those steerable implements understanding the underlying vehicle dynamics now becomes essential. This work therefore derives easily extensible kinematic and dynamic models for tractors and steerable towed implements. A flexible path tracking controller allowing to combine steering options freely is presented for the overall system. Finally a system analysis is performed and simulation results comparing kinematic and dynamic model based control approaches are presented in order to facilitate choosing the appropriate model.