Before revision:  The inverse dynamics of the vehicle is approximated using a feedback error learning mechanism that utilizes a dynamic Radial Basis Function neural network, referred to as the Extended Minimal Resource Allocating Network (EMRAN).
After revision:  The inverse dynamics of the vehicle are approximated using a feedback error learning mechanism that utilizes a dynamic Radial Basis Function neural network, referred to as the Extended Minimal Resource Allocating Network (EMRAN).