Euler-Poincaré equations with constraints It is well known that the stationary curves (say $\Xi(t)$) of a regular Lagrangian $\mathcal{L}$ on a compact, semi-simple Lie group $G$ have the property that $\xi(t) = \frac{d \Xi(t)}{dt} \Xi(t)^{-1}$ solves the Euler Poincaré equations:
$\frac{d}{dt}\frac{\partial \ell}{\partial \xi} = -ad^*_{\xi} \left(\frac{\partial \ell}{\partial \xi}\right)$ 
or in coordinates:
$\frac{d}{dt}\frac{\partial \ell}{\partial \xi^d} = -C^{b}_{ad}\frac{\partial \ell}{\partial \xi^b} \xi^a$
wherein $\ell$ is the restriction of $\mathcal{L}$ to the lie algebra of $G$, say $\mathfrak{g}$, and $C$ are the structure constants of $\mathfrak{g}$.
I also further suppose that $\mathcal{L}$ is homogeneous degree, this entails that action of any curve does not depend on the parametrisation of that curve, i.e. only the image of the curve is taken into account. 
If I wanted to find constrained extremal curves of $\mathcal{L}$ (for example, determining the geodesics of a sub-Riemanian metric) I would typically impose a constraint using a Lagrange multiplier, $\lambda$ say.
I could solve the standard Euler Lagrange equations for $\mathcal{L}(\Xi, \frac{d \Xi}{dt}) + \lambda(f(\Xi, \frac{d \Xi}{dt}) - c)^2$ including an equation for the variation by $\lambda$.
However, I want to know if it's possible to write this problem as an Euler Poincaré equation in the case that $f$ depends only on $\frac{d \Xi(t)}{dt} \Xi(t)^{-1}$. That is to say, the constraint is also right invariant.
I'm specifically interested in the geodesics of a Finsler metric on $SU(n)$ which are parallel to a linear affine distribution.
 A: Generally no. The Euler-Poincaré equation derives all of its structure from the Lie bracket, and an arbitrary constraint does not respect this structure.  The most simple counter-example is probably a subspace constraint.  Let $V \subset \mathfrak{g}$ be a subspace which is not a sub-algebra.  This subspace generates a constraint distribution on $TG$ in the obvious way, which we'll denote by $VG$. The constrained Euler-Lagrange equations on $TG$ are given by
$$\frac{d}{dt} \left( \frac{\partial L}{\partial \dot{g}} \right) - \frac{\partial L}{\partial g} \in (VG)^\perp \\ \dot{g} \in VG$$
Here $(VG)^\perp \subset T^*G$ is the annihilator of $VG$.
These equations can be reduced to $\mathfrak{g}$.  Here they take the form
$$\frac{d}{dt} \left( \frac{\partial \ell}{\partial \xi} \right) \pm {\rm ad}^*_\xi
 \left( \frac{\partial \ell}{\partial \xi} \right) \in V^\perp \\ \xi \in V$$
Here $V^\perp \subset\mathfrak{g}^*$ is the annihilator of $V$.  In any case, the above equation is not an Euler-Poincaré equation, and It can not be transformed into one (although, one may call it a "non-holonomic Euler-Poincar\'e equation).
