This paper deals with the global dynamical analysis of an H-bridge parallel resonant converter under a zero current switching control. Due to the discontinuity of the vector field in this system, sliding dynamics may take place. Here, the sliding set is found to be an escaping region. Different tools are combined for studying the stability of oscillations of the system. The desired crossing limit cycles are computed by solving their initial value problem and their stability analysis is performed using Floquet theory. The resulting monodromy matrix reveals that these cycles are created according to a smooth cyclic-fold bifurcation. Under parameter variation, an unstable symmetric crossing limit cycle undergoes a crossing-sliding bifurcation leading to the creation of a symmetric unstable sliding limit cycle. Finally, this limit cycle undergoes a double homoclinic connection giving rise to two different unstable asymmetric sliding limit cycles. The analysis is performed using a piecewise-smooth dynamical model of a Filippov type. Sliding limit cycles divide the state plane in three basins of attraction, and hence, different steady-state solutions may coexist which may lead the system to start-up problems. Numerical simulations corroborate the theoretical predictions, which have been experimentally validated.