Performance of an energy-conserving algorithm for multi-body dynamics

This work presents the application to the dynamics of multibody systems of three methods based on the augmented Lagrangian techniques, compares them, and gives some criteria for their use in realistic problems. The methods are: an augmented Lagrangian formulation with trapezoidal rule plus projections of velocities and accelerations, an augmented Lagrangian energy-conserving formulation, and an augmented Lagrangian formulation with conserving integrator plus projections of velocities and accelerations. The simulation of two mechanical systems is carried out in this work: a spherical Compound pendulum, which is an academic example that permits to see the properties of the formulations; and the whole model of a car, which is a realistic and demanding example to test the efficiency and robustness of the formulations.