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.
Поступила в редакцию: 23.01.2014 Исправленный вариант: 17.04.2014 Принята в печать: 04.08.2014
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Статья
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