Optimal path planning and adaptive sliding mode control of hexapod model

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... birth: Ho Chi Minh City Major: Control Engineering and Automation Major code: 8520216 I THESIS TOPIC: Optimal Path Planning and Adaptive Sliding Mode Control of Hexapod model II NHI M V VÀ N I DUNG:... Trajectory qd e SMC Controller -q d/dt eq SMC Hexapod Model edot Disturbance Figure 4.1 The conventional sliding mode controller 4.2 Adaptive Sliding Mode Controller Adaptive Law Adaptive Controller Adap... Multi-objective optimal Path planning 22 Figure 4.1 The conventional sliding mode controller 26 Figure 4.2 Adaptive Sliding Mode Controller 26 Figure 5.1 Hexapod CAD model designed

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