Azita Azarfar - Department of Electrical & Robotics Engineering, University of Shahrood, Shahrood, Iran
Heydar Toossian Shandiz - Department of Electrical & Robotics Engineering, University of Shahrood, Shahrood, Iran
Masoud Shafiee - ۳- Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran

Singular systems behave more powerfully in termsof dynamical system modeling than ordinary state space systems. Since thealgebraic equations in singular models can describe the systems constraints,nonlinear singular systems can present a general method for modeling andcontrol of constrained dynamical systems. This paper discusses an adaptivecontrol for nonlinear singular systems which satisfy Lipschitz condition. Adaptivemethods for singular systems are hardly ever investigated in literatures;however they are very useful methods in practice because the adaptive mechanismduring the adaptive control can adjust the controller for a system with unknownstructures and parameters to improve the system performance. The presentedcontroller is composed of a state feedback approach with adaptive gains and amechanism to adjust the gains based on the Lyapunov stability theorem. Firstthe controller is designed to stabilize the system then it is extended for the trackingproblem. A simulation on a mobile robot singular model is provided toillustrate the effectiveness of the proposed control approach.

Nonlinear Singular Systems, en, Adaptive Sontrol, Constrained Robot, Lipschitz condition, Singular Systems Control