Математическое моделирование. Федеральное государственное бюджетное учреждение "Российская академия наук". Vol. 14. 2002. P. 95-104
Summary (translated from the Russian): "We study the problem of modeling the dynamics of nonholonomic Chaplygin systems with program constraints. We construct an algorithm for determining the control forces---the reactions of constraints corresponding to stable program constraints. We give a method for solving the inverse problem of the qualitative theory of differential equations and its application to forming the equations of nonholonomic program constraints. We present a solution to the problem of the control of the motion of a two-wheeled carriage from an arbitrary point of a plane to the origin bypassing an obstacle."