@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}
}
