Claudio Altafini, Ruggero Frezza. Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group. Systems & Control Letters, 50(3):241-250, 2003. [doi]
@article{AltafiniF03,
title = {Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group},
author = {Claudio Altafini and Ruggero Frezza},
year = {2003},
doi = {10.1016/S0167-6911(03)00168-3},
url = {http://dx.doi.org/10.1016/S0167-6911(03)00168-3},
researchr = {https://researchr.org/publication/AltafiniF03},
cites = {0},
citedby = {0},
journal = {Systems & Control Letters},
volume = {50},
number = {3},
pages = {241-250},
}