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

Data-driven Event-triggered Finite-time Sliding-mode Control for Bridge Cranes with Sensor Saturation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Data-driven Event-triggered Finite-time Sliding-mode Control for Bridge Cranes with Sensor Saturation Peng Wang, Huarong Zhao, Jie Wu, Hongnian Yu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6336022/v1 This work is licensed under a CC BY 4.0 License Status: Under Revision Version 1 posted 12 You are reading this latest preprint version Abstract 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. Physical sciences/Energy science and technology Physical sciences/Engineering Physical sciences/Mathematics and computing Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Revision Version 1 posted Editorial decision: Revision requested 07 Aug, 2025 Reviews received at journal 06 Aug, 2025 Reviews received at journal 17 Jul, 2025 Reviewers agreed at journal 16 Jul, 2025 Reviewers agreed at journal 15 Jul, 2025 Reviews received at journal 01 Jun, 2025 Reviewers agreed at journal 19 Apr, 2025 Reviewers invited by journal 19 Apr, 2025 Editor assigned by journal 19 Apr, 2025 Editor invited by journal 19 Apr, 2025 Submission checks completed at journal 17 Apr, 2025 First submitted to journal 29 Mar, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6336022","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":435806797,"identity":"b1c350ab-ea3c-4448-b8fa-dca2de9e3094","order_by":0,"name":"Peng Wang","email":"","orcid":"","institution":"Wuxi Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Peng","middleName":"","lastName":"Wang","suffix":""},{"id":435806798,"identity":"61a3ccd9-d9da-42d1-8fdb-ec4b83434cbb","order_by":1,"name":"Huarong Zhao","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA8ElEQVRIiWNgGAWjYBACAwYGNiBlw8yGEEsgSksa6VoOI4sR0GIuffzZgx8V59n52M8efl1Qc4eBnz3HgOHnDtxaLPsS0g17ztxmZuPJS7OecewZg2TPGwPG3jN4HHaG4ZgEbxtQC0OOmTEP22EGgxs5BsyMbfi0MLZJ/m07x8zG/wao5d9hBnvCWpjZpHnbDjCzSeQYP+ZtA9oiQVALG5u0zJlkoJY3Zsy8fYd5JM48KzjYi1cL+zPJNxV2yfL9Ocafeb4dluNvT9744CceLTCQDMRsEkCCB8Q7QFgDA4MdEDN/IEblKBgFo2AUjDwAABVSSNMVD05hAAAAAElFTkSuQmCC","orcid":"","institution":"Jiangnan University","correspondingAuthor":true,"prefix":"","firstName":"Huarong","middleName":"","lastName":"Zhao","suffix":""},{"id":435806799,"identity":"20b6e368-baf0-406e-b71a-b73f40ebdb8e","order_by":2,"name":"Jie Wu","email":"","orcid":"","institution":"Jiangnan University","correspondingAuthor":false,"prefix":"","firstName":"Jie","middleName":"","lastName":"Wu","suffix":""},{"id":435806800,"identity":"65df104b-bb70-474c-92bb-0abd5873abdf","order_by":3,"name":"Hongnian Yu","email":"","orcid":"","institution":"Edinburgh Napier University","correspondingAuthor":false,"prefix":"","firstName":"Hongnian","middleName":"","lastName":"Yu","suffix":""}],"badges":[],"createdAt":"2025-03-29 22:23:08","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6336022/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6336022/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":79628775,"identity":"5c71d7dc-b7ba-461b-8200-17e0ece9ed9e","added_by":"auto","created_at":"2025-04-01 02:34:24","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":721307,"visible":true,"origin":"","legend":"","description":"","filename":"ScientificReports2025wang.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6336022/v1_covered_edd0c3b0-6e5c-43bc-9306-5f462319a463.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Data-driven Event-triggered Finite-time Sliding-mode Control for Bridge Cranes with Sensor Saturation","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":true,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"","lastPublishedDoi":"10.21203/rs.3.rs-6336022/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6336022/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"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.","manuscriptTitle":"Data-driven Event-triggered Finite-time Sliding-mode Control for Bridge Cranes with Sensor Saturation","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-04-01 02:26:18","doi":"10.21203/rs.3.rs-6336022/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Revision requested","date":"2025-08-07T08:43:34+00:00","index":"","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-08-07T02:17:05+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-07-18T01:01:36+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"50557683112440536951072971505881273675","date":"2025-07-16T04:21:44+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"248341017657820392157970625604093300614","date":"2025-07-16T01:16:42+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-06-01T12:28:55+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"37731533215568801311315154619241969821","date":"2025-04-20T03:53:15+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2025-04-20T03:47:48+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2025-04-20T03:20:50+00:00","index":"","fulltext":""},{"type":"editorInvited","content":"","date":"2025-04-19T10:59:12+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2025-04-17T12:47:27+00:00","index":"","fulltext":""},{"type":"submitted","content":"Scientific Reports","date":"2025-03-29T22:12:44+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"df1421fe-2554-494b-8552-6f414f027c8e","owner":[],"postedDate":"April 1st, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"in-revision","subjectAreas":[{"id":46402941,"name":"Physical sciences/Energy science and technology"},{"id":46402942,"name":"Physical sciences/Engineering"},{"id":46402943,"name":"Physical sciences/Mathematics and computing"}],"tags":[],"updatedAt":"2026-03-19T08:55:00+00:00","versionOfRecord":[],"versionCreatedAt":"2025-04-01 02:26:18","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-6336022","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-6336022","identity":"rs-6336022","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}