@article{VUU_2019_29_3_a9,
     author = {E. A. Mityushov and N. E. Misyura and S. A. Berestova},
     title = {Quaternion model of programmed control over motion of a {Chaplygin} ball},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
     pages = {408--421},
     year = {2019},
     volume = {29},
     number = {3},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VUU_2019_29_3_a9/}
}