Multilayer Perceptron (MLP) and Radial Basis Function (RBF) were proposed in this paper as two models of non-linear ANN based equalization techniques in order to optimize processing performance, tracking, and minimize error of the channel effects and the ascending noise with 16 QAM Modulation, this work will be referenced with one of the most used linear adaptive equalization; Recursive least squares (RLS), as an evaluation. The two models will be compared in terms of efficiency and robustness facing noisy channel.

In this paper, an approach of trajectory tracking is proposed. The approach is based on two controls. Firstly, a quasi sliding mode control is proposed of the angular velocity in aim to converge the angle error to zero in short time with asymptotic stability. Secondly, a global sliding mode control for linear velocity is proposed, in order to bring the position error to zero and ensure the asymptotic stability by using the Lyapunov theory. Finally, the proposed control shows the performance of the algorithm, and the simulation results show good convergence for circular, sinusoidal and specific trajectories.