Abstract
A mathematical formulation of a Signorini problem with friction can be characterized by a class of variational inequalities. In a variational inequality formulation, the presence of friction leads to nonconservative nondifferentiable forms, which represents a major difficulty to applying the finite element technique effectively. It has been shown that the finite element error estimate is of order h 1 2 in the energy norm. In this article we sharpen this result. Using the smooth perturbation of the variational inequality, we show that the error estimate for the finite element approximation if of order h in the energy norm. In fact, our estimates improve all of the previous known estimates for elliptic variational inequalities. We also discuss special cases that can be obtained from this general result.
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