Finite element approximation of incompressible Navier-Stokes equations with slip boundary condition II

We consider mixed finite element approximations of the stationary, incompressible Navier-Stokes equations with slip boundary condition simultaneously approximating the velocity, pressure, and normal stress component. The stability of the schemes is achieved by adding suitable, consistent penalty terms corresponding to the normal stress component and to the pressure. A new method of proving the stability of the discretizations allows, us to obtain optimal error estimates for the velocity, pressure, and normal stress component in natural norms without using duality arguments and without imposing uniformity conditions on the finite element partition. The schemes can easily be implemented into existing finite element codes for the Navier-Stokes equations with standard Dirichlet boundary conditions