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DOI: https://doi.org/10.1016/j.geomphys.2014.08.003

Funding agency	Grant number
Ministry of Education and Science of the Russian Federation	14.37.21.1935 1.1248.2011 1.7734.2013 MD-2324.2013.1
Russian Science Foundation	14-12-00811 14-41-00044
This research was supported by the Federal Target Program ‘‘Scientific and Scientific-Pedagogical Personnel of Innovative Russia’’ for 2009–2013, Agreement No. 14.37.21.1935 ‘‘Topological Methods in Mechanics and Hydrodynamics’’, the Analytical Departmental Target Program ‘‘Development of Scientific Potential of Higher Schools‘‘for 2012–2014, No. 1.1248.2011 ‘‘Nonholonomic Dynamical Systems and Control Problems’’, the Analytical Departmental Target Program ‘‘Development of Scientific Potential of Higher Schools’’ for 2012–2014, No. 1.7734.2013 ‘‘Development of Nonholonomic Mobile Systems’’. The work of A.A. Kilin was supported by the grant of the President of the Russian Federation for young Doctors of Science MD-2324.2013.1 ‘‘Nonholonomic Mobile Systems: Various Models of Friction, Regular and Chaotic Regimes and Control’’. The research presented in Section 3 was supported by the RSF grant (Project No. 14-12-00811), the research presented in Section 4 was supported by the RSF grant (Project No. 14-41-00044). A.O. Kazakov was supported by basic funding from the Ministry of Education and Sciences of Russia.

Received: 23.01.2014
Revised: 17.04.2014
Accepted: 04.08.2014

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