Comparison of index-2 and index-1 DAE solvers for nonsmooth multibody systems with unilateral or bilateral constraints

Mounia Haddouni 1, 2, * Vincent Acary 1, * Jean-Daniel Beley 2 Stéphane Garreau 2
* Corresponding author
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : The aim of this work is to study some numerical solvers for the integration of index-1 and index-2 differential algebraic equations that describe the dynamics of constrained mechanical systems, in the framework of event-driven schemes. These solvers will be compared in terms of drift of the constraints, implementation and the way they handle cases when the constraints are not sufficiently differentiable.
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Mounia Haddouni, Vincent Acary, Jean-Daniel Beley, Stéphane Garreau. Comparison of index-2 and index-1 DAE solvers for nonsmooth multibody systems with unilateral or bilateral constraints. CSMA 2013 - 11e Colloque National en Calcul des Structures, CSMA, May 2013, Giens, France. ⟨hal-00821315⟩

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