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Simulation of a controlled multibody mechanical system, with a nonstiff mechanical subsystem and a stiff control subsystem, usually suffers from long run time. In this paper, a hybrid integration scheme combined with the constraint stabilization method is proposed to overcome this difficulty. The dynamic equations of motion of a constrained multibody mechanical system is a mixed differential-algebraic equation (DAE). The constraint stabilization method proposed by Baumgarte is used to integrate this equation. Correct choice of the alpha and beta coefficients used in the constraint stabilization method is found. The hybrid integration scheme consists of two parts: a nonstiff integration algorithm for the mechanical subsystem and a stiff integration algorithm for the control subsystem. Simulation results show the computational efficiency of the proposed integration scheme

Stabilization Method for the Numerical Integration of Controlled Multibody Mechanical System. A Hybrid Integration Approach.