The aim of this paper is to prove the existence of a solution to the quasistatic unilateral contact problem with a modified version of Coulomb's law of dry friction for nonlinear elastic materials. We derive a variational incremental problem which admits a solution if the friction coefficient is sufficiently small and then by passing to the limit with respect to time we obtain the existence of a solution.
Touzaline, A., & Teniou, D. E. (2007). A quasistatic unilateral contact problem with friction for nonlinear elastic materials. Mathematical Modelling and Analysis, 12(4), 497-514. https://doi.org/10.3846/1392-6292.2007.12.497-514
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