Abstract: address the chattering issue in the output of sliding mode control for crane systems under external disturbances. The method designs a finite-time sliding mode controller that transforms the discontinuous function in the traditional reaching law into a continuous process，effectively reducing the output torque chattering. Additionally，by combining super-twisting algorithm，a finite-time sliding mode observer is designed to estimate and compensate for uncertainties and disturbances in a feedforward manner. Experimental results demonstrate that the proposed method significantly reduces output chattering, rapidly compensates for disturbances，and accurately completes control tasks, which is of great practical significance for enhancing the systemʹs anti-interference performance and operational smoothness.