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First, an input\u2013output model of WMMs is derived by introducing proper output equations. Then, the prescribed performance technique is employed to propose a proportional integral derivative trajectory tracking controller for WMMs to ensure that the tracking errors converge to a smaller, arbitrary ultimate bound with a predefined maximum overshoot\/undershoot and convergence speed. The learning capabilities of multilayer NNs are incorporated into the controller to approximate the uncertain nonlinear dynamics of the robot. An adaptive saturation-type controller is utilized to compensate NN estimation errors and external disturbances. A Lyapunov-based stability analysis is used to demonstrate that the tracking errors are uniformly ultimately bounded and converge to a small neighborhood of zero with a guaranteed prescribed performance. Numerical computer simulations are presented to show the effectiveness of the proposed controller.<\/jats:p>","DOI":"10.1017\/s0263574719000365","type":"journal-article","created":{"date-parts":[[2019,4,10]],"date-time":"2019-04-10T05:55:13Z","timestamp":1554875713000},"page":"1937-1955","source":"Crossref","is-referenced-by-count":6,"title":["Adaptive Neural Feedback Linearizing Control of Type (m,s) Mobile Manipulators with a Guaranteed Prescribed Performance"],"prefix":"10.1017","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1799-2141","authenticated-orcid":false,"given":"Khoshnam","family":"Shojaei","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ali","family":"Kazemy","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,4,10]]},"reference":[{"volume-title":"Stable Adaptive Neural Network 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