Finite-time trajectory tracking of parallel manipulators: An adaptive barrier terminal sliding mode approach with input constraints

Mostafa Barghandan, Omid Mofid, Saleh Mobayen, Ali Akbar Pirmohamadi, Department of Mechanical Engineering, University of Zanjan, Computer Science Department, University of Tulsa, Graduate School of Intelligent Data Science, National Yunlin University of Science and Technology

Journal of Vibration and Control

Published online on October 17, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
For parallel manipulators, traditional trajectory tracking techniques suffer from input saturation and external disturbances, which results in poor transient responsiveness and decreased control accuracy. In order to guarantee quick and reliable ...