Adaptive Neural Feedback Linearizing Control of Type (m,s) Mobile Manipulators with a Guaranteed Prescribed Performance

Summary In this paper, a neural network (NN)-based tracking controller is proposed for a general class of type ( m , s ) wheeled mobile manipulators (WMMs) subjected to model uncertainties with prescribed transient and steady-state performance specifications. First, an input–output model of WMMs is derived by introducing proper output equations. Then, the prescribed performance technique is employed to propose a proportional integral derivative...