Regularization Methods for Constrained Mechanical Multibody Systems

The equations of motion of multibody systems with holonomic constraints are of index 3 and therefore not directly solvable by standard ODE or DAE methods. Until now, a number of regularization methods have been proposed to treat these systems [1, 18, 15, 13], but as they are based on different points of view they have never been compared with respect to their physical properties, invariance under diffeormorphisms, and convergence behaviour. In thi