Minimal order H(div)-conforming velocity-vorticity approximations for incompressible fluids

We introduce a novel minimal order hybrid Discontinuous Galerkin (HDG) and a novel mass conserving mixed stress (MCS) method for the approximation of incompressible flows. For this we employ the $H(\operatorname{div})$-conforming linear Brezzi-Douglas-Marini space and the lowest order Raviart-Thomas space for the approximation of the velocity and the vorticity, respectively. Our methods are based on the physically correct diffusive flux $-\nu \varepsilon(u)$ and provide exactly divergence-free discrete velocity solutions, optimal (pressure robust) error estimates and a minimal number of coupling degrees of freedom. For the stability analysis we introduce a new Korn-like inequality for vector-valued element-wise $H^1$ and normal continuous functions. Numerical examples conclude the work where the theoretical findings are validated and the novel methods are compared in terms of condition numbers with respect to discrete stability parameters.