Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model
Abstract
This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be used, in combination with receding horizon techniques, to improve the performance of path tracking tasks of articulated systems. Due to its dual steering mechanisms, this type of vehicle can be very useful in precision agriculture, particularly for seeding, spraying and harvesting in small fields. The articulated tractor-trailer system model was embedded within a non-linear model predictive controller and the trailer position was monitored. When the kinematic of the trailer was considered, the deviation of trailer's position was reduced substantially alongside not only straight paths but also in headland turns. Using the proposed mathematical model, we were able to control the trailer's position itself rather than the tractor's position. The Robot Operating System (ROS) framework and Gazebo simulator were used to perform realistic simulations examples.
Keywords
Cite
@article{arxiv.2606.31889,
title = {Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model},
author = {Marina Murillo and Guido Sanchez and Nestor Deniz and Lucas Genzelis and Leonardo Giovanini},
journal= {arXiv preprint arXiv:2606.31889},
year = {2026}
}