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The non-smooth feedback control principle is combined with particular bounded functions to define both the control input and associated adaptive law. The Lyapunov method is used to present a stability analysis in order to prove that the error trajectories are semi-globally asymptotically stable. Numerical simulation results relating to a 6-degree-of-freedom parallel robot are presented to validate the effectiveness of the proposed approach and to compare the performance obtained with other candidate control schemes. It is shown that the proposed scheme achieves more rapid error convergence and exhibits improved robustness while guaranteeing that the control signal remains within known bounds.<\/jats:p>","DOI":"10.1177\/0959651817698333","type":"journal-article","created":{"date-parts":[[2017,4,24]],"date-time":"2017-04-24T05:45:40Z","timestamp":1493012740000},"page":"271-281","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs"],"prefix":"10.1177","volume":"231","author":[{"given":"Dongya","family":"Zhao","sequence":"first","affiliation":[{"name":"College of Chemical Engineering, China University of Petroleum, Qingdao, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sarah K","family":"Spurgeon","sequence":"additional","affiliation":[{"name":"College of Chemical Engineering, China University of Petroleum, Qingdao, China"},{"name":"Department of Electronic & Electrical Engineering, University College London, London, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hao","family":"Liang","sequence":"additional","affiliation":[{"name":"College of Chemical Engineering, China University of Petroleum, Qingdao, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaoyuan","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Quanmin","family":"Zhu","sequence":"additional","affiliation":[{"name":"College of Chemical Engineering, China University of Petroleum, Qingdao, China"},{"name":"Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2017,4,24]]},"reference":[{"key":"bibr1-0959651817698333","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-010-9587-7"},{"key":"bibr2-0959651817698333","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(99)00006-3"},{"key":"bibr3-0959651817698333","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2318999"},{"key":"bibr4-0959651817698333","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2015.01.009"},{"key":"bibr5-0959651817698333","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2014.11.005"},{"key":"bibr6-0959651817698333","doi-asserted-by":"crossref","unstructured":"Zou J, Schueller JK. 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