A new terminal converging PD control for parallel robotic manipulators with bounded torque

In this study, a new terminal converging PD control is developed for parallel robotic manipulators with bounded torque. By using decimal fraction power of tracking error, the proposed approach can achieve asymptotic stability with faster converging speed than conventional saturating PD control. In terms of LaSalle´s invariance principle, the corresponding theoretical analysis is presented. Finally, an illustrative example is bench tested to validate the effectiveness of the proposed approach.