Data-driven Event-triggered Finite-time Sliding-mode Control for Bridge Cranes with Sensor Saturation

This paper addresses a data-driven event-triggered finite-time sliding-mode control problem for bridge cranes subject to uncertain dynamics and sensor saturations. The nonlinear model of the controlled bridge crane is initially partially feedback linearized. Using this transformed model, a fast terminal sliding mode surface is developed, followed by the development of a terminal sliding mode controller. Then, an event-triggering mechanism is established to minimize the communication load. Finally, the paper rigorously proves the convergence of the tracking error in the bridge crane system, and simulation studies demonstrate the effectiveness of the proposed approach.