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

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Title: Finite-time trajectory tracking of parallel manipulators: An adaptive barrier terminal sliding mode approach with input constraints.
Authors: Barghandan, Mostafa1 (AUTHOR), Mofid, Omid2 (AUTHOR), Mobayen, Saleh3 (AUTHOR) mobayens@yuntech.edu.tw, Pirmohamadi, Ali Akbar1 (AUTHOR)
Source: Journal of Vibration & Control. Oct2026, Vol. 32 Issue 19/20, p6085-6100. 16p.
Subjects: Parallel robots, Sliding mode control, Scientific experimentation, Lyapunov stability
Abstract: 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 trajectory tracking under such limitations, this study suggests an improved control approach that combines adaptive barrier functions with terminal sliding mode control. First, a compensator is added to lessen the consequences of input saturation. Then, for finite-time tracking, a new terminal sliding surface is constructed, which is based on tracking error and an auxiliary variable connected to the compensator. To reject time-varying disturbances, the adaptive barrier function is further expanded. The whole system's finite-time stability is guaranteed by applying Lyapunov theory. The enhanced tracking performance of the proposed method over traditional approaches is demonstrated by simulation results. Compared to SOSMC and NTSMC, the proposed controller achieves up to 14% improvement in performance indices and 31% faster convergence, highlighting its effectiveness for precise trajectory tracking in parallel robots. Additionally, the effectiveness of the suggested controller is validated by real-time experiments on a physical parallel manipulator. The resilience of the approach against real-world uncertainties, including sensor noise, unmodeled dynamics, and actuator nonlinearities, is confirmed by this high correlation. All things considered, the suggested method provides a dependable and effective way to track trajectories in applications requiring a high degree of precision and utilizing parallel manipulators. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Vibration & Control is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 197248060
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
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  Data: Finite-time trajectory tracking of parallel manipulators: An adaptive barrier terminal sliding mode approach with input constraints.
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  Data: <searchLink fieldCode="AR" term="%22Barghandan%2C+Mostafa%22">Barghandan, Mostafa</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Mofid%2C+Omid%22">Mofid, Omid</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Mobayen%2C+Saleh%22">Mobayen, Saleh</searchLink><relatesTo>3</relatesTo> (AUTHOR)<i> mobayens@yuntech.edu.tw</i><br /><searchLink fieldCode="AR" term="%22Pirmohamadi%2C+Ali+Akbar%22">Pirmohamadi, Ali Akbar</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Journal+of+Vibration+%26+Control%22">Journal of Vibration & Control</searchLink>. Oct2026, Vol. 32 Issue 19/20, p6085-6100. 16p.
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  Data: <searchLink fieldCode="DE" term="%22Parallel+robots%22">Parallel robots</searchLink><br /><searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Scientific+experimentation%22">Scientific experimentation</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: 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 trajectory tracking under such limitations, this study suggests an improved control approach that combines adaptive barrier functions with terminal sliding mode control. First, a compensator is added to lessen the consequences of input saturation. Then, for finite-time tracking, a new terminal sliding surface is constructed, which is based on tracking error and an auxiliary variable connected to the compensator. To reject time-varying disturbances, the adaptive barrier function is further expanded. The whole system's finite-time stability is guaranteed by applying Lyapunov theory. The enhanced tracking performance of the proposed method over traditional approaches is demonstrated by simulation results. Compared to SOSMC and NTSMC, the proposed controller achieves up to 14% improvement in performance indices and 31% faster convergence, highlighting its effectiveness for precise trajectory tracking in parallel robots. Additionally, the effectiveness of the suggested controller is validated by real-time experiments on a physical parallel manipulator. The resilience of the approach against real-world uncertainties, including sensor noise, unmodeled dynamics, and actuator nonlinearities, is confirmed by this high correlation. All things considered, the suggested method provides a dependable and effective way to track trajectories in applications requiring a high degree of precision and utilizing parallel manipulators. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Journal of Vibration & Control is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=197248060
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        Value: 10.1177/10775463251389025
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      – Code: eng
        Text: English
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        PageCount: 16
        StartPage: 6085
    Subjects:
      – SubjectFull: Parallel robots
        Type: general
      – SubjectFull: Sliding mode control
        Type: general
      – SubjectFull: Scientific experimentation
        Type: general
      – SubjectFull: Lyapunov stability
        Type: general
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      – TitleFull: Finite-time trajectory tracking of parallel manipulators: An adaptive barrier terminal sliding mode approach with input constraints.
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            NameFull: Barghandan, Mostafa
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            NameFull: Mofid, Omid
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            NameFull: Mobayen, Saleh
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            NameFull: Pirmohamadi, Ali Akbar
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          Dates:
            – D: 01
              M: 10
              Text: Oct2026
              Type: published
              Y: 2026
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              Value: 32
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              Value: 19/20
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