On the Lagrangian structure of reduced dynamics under virtual holonomic constraints∗∗∗∗∗∗

Author： Mohammadi Alireza   Maggiore Manfredi   Consolini Luca  

Publisher： Edp Sciences

E-ISSN： 1262-3377|23|3|913-935

ISSN： 1292-8119

Source： ESAIM: Control, Optimisation and Calculus of Variations, Vol.23, Iss.3, 2017-05, pp. : 913-935

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