Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group

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]

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