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Design of a cognitive neural predictive controller for mobile robot

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Figure

Figure 3.8: The dynamics and the kinematics model structure of the differential wheeled mobile robot
Figure 4.7: The PRBS input torque signals used to excite the mobile robot model:
Figure 4.9: The response of the identifier with the actual mobile robot model output: (a) in  the X-coordinate; (b) in the Y-coordinate; (c) in the  -orientation
Figure 5.2: The proposed structure of the adaptive neural predictive controller   for the mobile robot actuators system
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