Behaviour of augmented Lagrangian and Hamiltonian methods for multibody dynamics in the proximity of singular configurations
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15 صفحه اولAugmented Lagrangian and Mass-Orthogonal Projection Methods for Constrained Multibody Dynamics
This paper presents a new method for the integration of the equations of motion of constrained multibody systems in descriptor form. The method is based on the penalty-Augmented Lagrangian formulation and uses massorthogonal projections for the solution to satisfy the kinematic constraint conditions. The number of equations being solved is equal to the number of states, and does not depend on t...
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ژورنال
عنوان ژورنال: Nonlinear Dynamics
سال: 2016
ISSN: 0924-090X,1573-269X
DOI: 10.1007/s11071-016-2774-5