Mechanical control systems on Lie algebroids
  This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of systems includes mechanical systems subject to holonomic and nonholonomic constraints, mechanical systems with symmetry and mechanical systems evolving on semidirect products. We introduce the notions of linear connection, symmetric product and geodesically invariant subbundle on a Lie algebroid. We present appropriate tests for various notions of accessibility and controllability, and analyze the relation between the controllability properties of control systems related by a morphism of Lie algebroids. 
Jorge Cortes, Eduardo Martinez