@article {2003, title = {Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group}, journal = {Syst. Control Lett. 50 (2003) 241-250}, year = {2003}, publisher = {Elsevier}, abstract = {For a control system on a matrix Lie group with one or more configuration constraints that are not left/right invariant, finding the combinations of (kinematic) control inputs satisfying the motion constraints is not a trivial problem. Two methods, one coordinate-dependent and the other coordinate-free are suggested. The first is based on the Wei-Norman formula; the second on the calculation of the annihilator of the coadjoint action of the constraint one-form at each point of the group manifold. The results are applied to a control system on SE(3) with a holonomic inertial constraint involving the noncommutative part in a nontrivial way. The difference in terms of compactness of the result between the two methods is considerable.}, doi = {10.1016/S0167-6911(03)00168-3}, url = {http://hdl.handle.net/1963/3018}, author = {Claudio Altafini and Ruggero Frezza} }