Nonlinear Control Applied to a Tractor with a Towed Implement System

In this paper a nonlinear controller applied to a farm tractor using an implement for lateral and yaw velocity is presented. The nonlinear mathematical model of the farm tractor and its implement is considered. The control aim is designed to generate an error feedback control, such that the lateral velocity and the yaw rate of the farm tractor and its implement are tracked at all times, reading and analyzing lateral velocity reference and yaw rate tendencies. The reference system will be considered as the behavior of an “ideal” or “reference” farm tractor, without implements. To check the performance of the controller proposed here, as well as its robustness with respect to parameter variations, the Matlab-Simulink program is used to develop the simulations.