Index Reduction and Regularization for Euler-Lagrange Equations of Constraint Mechanical Systems
نویسنده
چکیده
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, 2, 3, 4], 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 this paper we try to relate these methods to each other.
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