J.-W. Perram, Anton Shiriaev, Carlos Canudas de Wit, Frédéric Grognard. Explicit formula for a general integral of motion for a class of mechanical systems subject to holonomic constraint.
2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Mar 2004, Sevilla, Spain. pp.99-104.
⟨hal-01091637⟩