engleski

Discrete Mechanical Systems - Projective Constraint Violation Stabilization Method for Numerical Forward Dynamics on Manifolds

During numerical forward dynamics of discrete mechanical systems with constraints, a numerical violation of system kinematical constraints is the basic source of time-integration errors and frequent difficulty that analyst has to cope with. The stabilized time-integration procedure, whose stabilization step is based on projection of the integration results to the underlying constraint manifold via post-integration correction of the selected coordinates, is proposed in the paper. After discussing optimization of the partitioning algorithm, the geometric and stabilization issues of the method are addressed and it is shown that the projective stabilization algorithm can be applied for numerical stabilization of holonomic and non-holonomic constraints in Pfaffian and general form. As a continuation of the previous work, a further elaboration of the projective stabilization method applied on non-holonomic discrete mechanical systems is reported in the paper and numerical example is provided.

Multibody Systems; Numerical Integration; Constraint violation stabilization; Projective stabilization methods; Manifolds

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