Brachistochrone on a surface with Coulomb friction

The problem of brachistochronic motion of a particle on a surface with the simultaneous action of gravity and Coulomb friction has been solved. Analytical solutions of the problem in special cases have been found. In the case of a cylindrical surface, it is shown that the solutions found includes, as a special case, all well-known results which refer to the brachistochronic motion of a particle. The results are illustrated with a series of concrete examples.