Every time you have to design a control system, you have to first set up a model of the plant, that allows to study its properties, design the controller, and perform a preliminary validation, in simulation, of the control system.
In the case of agricultural robots/machines, the model can be used to test different mechanical designs, as well.

This thesis aims at developing the model of an Agilex robot, suitable for off-road tasks, including the models of terrains with different mechanical characteristics, using Modelica language.
The simulator is then validated comparing the behaviour of the simulated robot with the behaviour of a real platform.

This work is suitable for students with an engineering or non engineering background, and for a single student or for a group of two students.

Reference teacher: Prof. Luca Bascetta – luca.bascetta@polimi.it