Modeling and control of an agricultural articulated vehicle carrying an implement

MARINA MURILLO; LEONARDO GIOVANINI; LUCAS GENZELIS; GUIDO SANCHEZ; NESTOR NAHUEL DENIZ

IEEE SPECTRUM

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Lugar: New York; Año: 2017

0018-9235

This work focuses on the study of an agricultural articulated vehicle which carries an implement (such as a plow or a harvester). The derivation of a mathematical model of its kinematics is presented, and then the methodology of model predictive control is used in order to have the implement follow a predefined trajectory. The performance of the system and the corresponding controller is ilustrated through numerical simulations, which yield satisfactory results.