This paper presents an approach to adaptive trajectory tracking of mobile robots which combines a... more This paper presents an approach to adaptive trajectory tracking of mobile robots which combines a feedback linearization based on a nominal model and a NN adaptive dynamics compensation. For a robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematics controller and an inverse dynamics controller. The uncertainty in the nominal dynamics model is compensated by a neural
This paper presents an approach to adaptive trajectory tracking of mobile robots which combines a... more This paper presents an approach to adaptive trajectory tracking of mobile robots which combines a feedback linearization based on a nominal model and a NN adaptive dynamics compensation. For a robot with uncertain dynamic parameters, two controllers are implemented separately: a kinematics controller and an inverse dynamics controller. The uncertainty in the nominal dynamics model is compensated by a neural
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