Control of an uncertain nonholonomic mobile manipulator based on the Diagonal Recurrent Neural Network

In this paper, control of a nonholonomic mobile manipulators with unknown dynamics is considered using Diagonal Recurrent Neural Network. The system is subject to nonholonomic constraint. The adaptive recurrent neural network controller is presented to deal with the unmodelled dynamics in the system. The proposed control strategy guarantees that the system motion asymptotically converges to the desired manifold.