Finite-time data-driven sliding-mode control for bridge cranes under sensor saturation and quantized information

This paper addresses sliding-mode control for bridge crane systems within a finite time horizon, accounting for uncertain dynamics and sensor saturation constraints. Firstly, partial feedback linearization is applied to the nonlinear model of the bridge crane system to streamline the control design process. Then, a terminal sliding-mode surface is constructed, and a robust sliding-mode controller is designed to ensure system performance in the presence of uncertainty. Moreover, a uniform quantization scheme is developed to limit the data bit length during communication, thereby optimizing resource utilization. Finally, through rigorous theoretical analysis, we prove finite-time convergence of the proposed control method, and extensive simulations validate its effectiveness and superiority.