Dmitry V. Zenkov, Melvin Leok, Anthony M. Bloch. Hamel's formalism and variational integrators on a sphere. In Proceedings of the 51th IEEE Conference on Decision and Control, CDC 2012, December 10-13, 2012, Maui, HI, USA. pages 7504-7510, IEEE, 2012. [doi]
Abstract is missing.