Decoupling in nonlinear singular systems with applications in autonomous vehicles

In this paper the problem of input-output decoupling in nonlinear singular systems is solved via the application of a particular nonlinear PD feedback control law. An invertible transformation is provided, which converts the closed loop singular system into an equivalent regular, to which a static state feedback law is applied. This transformation, hence, allows the theory that exists for the control of regular nonlinear systems to be applied in the nonlinear singular systems. At the end an application of the theory is tested on a nonlinear singular model of an autonomous excavator.