Modeling and control of an agricultural articulated vehicle carrying an implement

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...

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Bibliographic Details
Published in2017 XVII Workshop on Information Processing and Control (RPIC) pp. 1 - 6
Main Authors Genzelis, Lucas, Sanchez, Guido, Deniz, Nahuel, Murillo, Marina, Giovanini, Leonardo
Format Conference Proceeding
LanguageEnglish
Published Comisión Permanente RPIC 01.09.2017
Subjects
Adaptation models
Agricultural machinery
articulated vehicle
kinematic modeling
Mathematical model
Predictive control
Predictive models
Silicon
Silicon compounds
tractor with implement
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Summary: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.
DOI:10.23919/RPIC.2017.8214348