Time-stepping approximation of rigid-body dynamics with perfect unilateral constraints. I: The inelastic impact case (Q717180)

The author studies discrete mechanical systems with a non-trivial mass matrix, subjected to perfect unilateral constraints described by geometrical inequalities. The transmission of velocities at impact is governed by Newton's law and is inelastic. The author proposes a time discretization of the second-order differential inclusion describing the dynamics, which generalizes the scheme proposed by \textit{L. Paoli} [J. Differ. Equations 211, No. 2, 247--281 (2005; Zbl 1078.34004)]. For any admissible data, the author proves the convergence of approximate motions to the solution of the initial-boundary value problem.