Analysis of the
experimental data showed that the lateral hitch force vs.
slip angle of the implement is relatively linear and can be
represented by the linear tire model. The ‘‘3-wheeled” Bicy-
cle Model developed in this paper was shown to capture the
steady state yaw rate by accounting for changing hitched
implement conditions using a hitch cornering stiffness term.
Steady state experiments were used to determine the hitch
cornering stiffness term which ranged from 0 N/deg to
3385 N/deg for increasing implement size and depth. Front
and hitch relaxation lengths were added to the ‘‘3-wheeled”
Bicycle Model (FHRL Model) in order to capture the
dynamic data