International Federation of Automatic Control
3rd IFAC SYMPOSIUM on SYSTEM, STRUCTURE and CONTROL

Foz do Iguassu, Brazil October 17th - 19th, 2007

Wednesday Afternoon

Session WA1: Geometric Methods


Chair: Michel Malabre - France
Co-chair: Giovanni Marro - Italy
Room: Assunção
2007-10-17
From 13:30 to 15:30
Lagrangian Modeling for a Class of Mobile Multibody Systems
Eric Conrado de Souza; Newton Maruyama
Contact: Eric de Souza - Brazil
14:10-14:30
Abstract:
In what follows, we employ a geometrical approach to the modeling of a proposed class of multibody systems through the Lagrangian setting. This approach yields an interesting decomposition of the system equations of motion in the shape, or relative coordinate, space and the inertial coordinate space. Copyright © 2007 IFAC.