On mechanical control systems with nonholonomic constraints and symmetries - Bullo, Francesco; Žefran, Miloš (Systems & control letters, 2002)
Keywords: Applied sciences; Computer science; control theory; systems; Control of mechanical systems; Control system synthesis; Control theory. Systems; Differential geometric methods; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Mechanical systems; Modeling; Nonholonomic constraints; Nonlinear control; Physics; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Nonholonomic constraints; Mechanical systems; Modeling; Nonlinear control; Differential geometric methods; Locomotion; Lagrangian; Equation of motion; Differential geometry; Mechanical system; Non holonomic system; Mechanical control; Controllability; Lagrangian system; Robotics; Symmetry