Kinematic and Dynamic Modeling of a Generalized Tractor-Trailer System with Steering Actuation

The study of vehicle behavior for the development of guidance algorithms has been widely explored. In agriculture, tractor guidance systems are now standard features in premium machinery. The next step to further improve precision is to achieve centimeter-level guidance for connected implements, especially those equipped with additional steering capabilities. Compared to the tractor-only scenario, the complexity of model design increases, and there is no established consensus among manufacturers on the preferred modeling approach. To facilitate interoperability between implement and tractor manufacturers, a generalized approach is required and has been previously proposed. This work presents an enhanced model that features an abstracted control interface for actuated towed implements. This interface is designed to be extendable to hitched implements and can account for known tire side-slip. For more detailed simulations, a dynamic version of the model is derived, allowing for the use of advanced tire and force models. The paper includes a systematic derivation of both kinematic and dynamic models, as well as first simulation results.