  This paper presents a combined strategy for tracking a non-holonomic mobile
robot which works under certain operating conditions for system parameters and
disturbances. The strategy includes kinematic steering and velocity dynamics
learning of mobile robot system simultaneously. In the learning controller
(neural network based controller) the velocity dynamics learning control takes
part in tracking of the reference velocity trajectory by learning the inverse
function of robot dynamics while the reference velocity control input plays a
role in stabilizing the kinematic steering system to the desired reference
model of kinematic system even without using the assumption of perfect velocity
tracking.
