## CONVERGENCE OF A CLASS OF SEMI-IMPLICIT TIME-STEPPING SCHEMES FOR NONSMOOTH RIGID MULTIBODY DYNAMICS

In this work we present a framework for the convergence analysis in a measure differential inclusion sense of a class of time-stepping schemes for multibody dynamics with contacts, joints, and friction. This class of methods solves one linear complementarity problem per step and contains the semi-implicit Euler method, as well as trapezoidallike methods for which … Read more