A proximal-like method for a class of second order measure-differential inclusions describing vibro-impact problems

We are interested in the study of discrete mechanical systems subjected to frictionless unilateral constraints. The dynamics is described by a second order measure-differential inclusion for the unknown positions, completed by a Newtonʹs impact law describing the transmission of the velocities when the constraints are saturated. By using another formulation of the problem at the velocity level, we introduce a time-stepping algorithm, inspired by the proximal methods for differential inclusions, and we prove the convergence of the approximate solutions to a solution of the Cauchy problem.