A Comparative study for some semi-recursive methods on real-time multibody vehicle dynamics model

Some topological formulations in terms of semi-recursive fashion have been proposed recently to improve computational efficiency in complex multibody systems (MBS). An improved semi-recursive method has been developed by García de Jalón, Kim has introduced a subsystem synthesis method, and Bae has implemented an implicit generalized semi-recursive method. These semi-recursive methods, in which the system topology is used to obtain velocities recursively in an open-loop MBS, are efficient for solving the equations of motion of large-scale multibody models. A numerical comparative study among the aforesaid methods is carried out based on theory, accuracy and efficiency