%0 Journal Article
%A Mohammadi, Alireza
%A Maggiore, Manfredi
%A Consolini, Luca
%T On the Lagrangian structure of reduced dynamics under virtual holonomic constraints
%J ESAIM: Control, Optimisation and Calculus of Variations
%D 2017
%P 913-935
%V 23
%N 3
%I EDP-Sciences
%U http://www.numdam.org/articles/10.1051/cocv/2016020/
%R 10.1051/cocv/2016020
%G en
%F COCV_2017__23_3_913_0