A primal-dual constraint and order preserving technique for flexible multibody dynamical index-3 systems

In this paper a novel primal-dual technique is proposed to overcome many computational challenging issues, namely, constraint preservation, preserving order of accuracy of time integration operators and faster convergence rates of nonlinear iterations for the solution of flexible multibody dynamical differential-algebraic equations index-3 systems. In addition, the proposed technique preserves the underlying properties of time integration operators for ordinary differential equations and totally eliminates the need for index reduction, constraint stabilization and regularization techniques. The claims of the proposed technique are illustrated via numerical examples by employing energy-momentum preserving method and stiff integrators such as dissipative methods that are part of a unified family of generalized integration operators encompassing LMS methods.