Review of Classical Approaches for Constraint Enforcement in Multibody Systems

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On the constraints violation in forward dynamics of multibody systems (2017, methodology): “However, the coordinate partitioning method can be very interesting and efficient when combined with the Maggi’s formulation, as it has been shown in the literature [28, 101, 123, 124].”
Interval uncertain method for multibody mechanical systems using Chebyshev inclusion functions (2013, background): “Governing equations of multibody dynamics problems Multibody systems are characterized by two distinct features: System components undergo finite relative rotations, and the components are connected by mechanical joints that impose restrictions on their relative motions [34] as algebraic constraints”
Review of Contemporary Approaches for Constraint Enforcement in Multibody Systems (2008, background): “…enforce constraints exactly, rather, constraints are allowed to “drift” in time; this problem gave rise to the development of many constraint violation stabilization techniques that alleviate this problem, see section 3, as well as constraint violation elimination techniques that completely…”