An Energy Preserving/Decaying Scheme For Constrained Nonlinear Multibody Systems.

Abstract

In this work we describe several numerical time integration methods for multibody
system dynamics: an energy preserving scheme and three energy decaying ones, which introduce
high frequency numerical dissipation in order to annihilate the non desired high frequency
oscillations. An exhaustive analysis of these four schemes is done, including their formulation,
energy preserving and decaying properties, taking into account the presence of nonlinear algebraic
constraints and the incrementation of finite rotations.