Geodesic
Nonholonomic mechanical systems and stabilization of motion
Fundamentalʹnaâ i prikladnaâ matematika, Tome 11 (2005) no. 7, pp. 117-158.

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Theoretical results on stability and stabilization of steady-state motions of nonholonomic systems are systematized. A set of theorems on stability and controllability is formulated. A lot of applications of these theoretical results are pointed out. 
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V. I. Kalenova; A. V. Karapetyan; V. M. Morozov; M. A. Salmina. Nonholonomic mechanical systems and stabilization of motion. Fundamentalʹnaâ i prikladnaâ matematika, Tome 11 (2005) no. 7, pp. 117-158. http://geodesic.mathdoc.fr/item/FPM_2005_11_7_a9/

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