Variational constrained mechanics on Lie affgebroids

Article: 
Variational constrained mechanics on Lie affgebroids
Authors: 
J. C. Marrero, D. Martín de Diego, D. Sosa
Journal: 
Discrete and Continuous Dynamical Systems - Series S
Volume: 
1(3)
Pages: 
105 - 128
Year: 
2010
URL: 
http://www.aimsciences.org/journals/displayArticles.jsp?paperID=4806