# On the Lagrangian structure of reduced dynamics under virtual holonomic constraints

> Research article (ESAIM Control Optimisation and Calculus of Variations, 2016) · cited 13× · AI/ML

**Wikidata**: [openalex:W2343344619](https://www.wikidata.org/wiki/openalex:W2343344619)  
**Source**: https://4ort.xyz/entity/on-the-lagrangian-structure-of-reduced-dynamics-under-virtual-holonomic-constraints