An implicit Runge-Kutta method for integration of differential algebraic equations of multibody dynamics (Q1873838)

The authors design an implicit Runge-Kutta method for numerical integration of equations of motion of a constrained mechanical system. They use a coordinate partitioning based on an analysis of the constraint Jacobian for numerically deriving a state-space form of the original differential algebraic equation which is then solved by a singly diagonal implicit Runge-Kutta method in order to take care of the stiffness of the considered model problem, a stiff vehicle model. In computations the arising \(L\)-stable and stiffly accurate methods turn out to be two orders of magnitude faster than an explicit integrator.