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IEEE International Conference on Real-time Computing [88]HUANG Jie.ZHU Kuo.Dynamics and control of three- and Robotics.Okinawa:IEEE,2017:327-332 dimensional dual cranes transporting a bulky payload[J]. [77]OUYANG Huimin,ZHANG Guangming,MEI Lei,et Proceedings of the institution of mechanical engineers, al.Simple robust control for double-pendulum overhead part C:journal of mechanical engineering science,2021, cranes[Cl//2018 IEEE International Conference on Real- 235(11):1956-1965. time Computing and Robotics.Kandima:IEEE,2018: [89]LIU Zhuoqing,FU Yu,SUN Ning,et al.Collaborative 190-195 antiswing hoisting control for dual rotary cranes with [78]ABDEL-RAHMAN E M,NAYFEH A H,MASOUD Z motion constraints[J.IEEE transactions on industrial in- N.Dynamics and control of cranes:a review[J].Journal formatics,.2022,18(9y:6120-6130. of vibration and control,2003,9(7):863-908 [90]AN Jianqi,YU Yan,CAO Weihua,et al.Load distribu- [79]WU Qingxiang,WANG Xiaokai,HUA Lin,et al.Im- tion and optimization method for cooperative lifting of proved time optimal anti-swing control system based on double cranes considering the minimal lifting consump- low-pass filter for double pendulum crane system with tion[C]//Proceedings of the 33rd Chinese Control Con- distributed mass beam[J].Mechanical systems and sig- ference.Nanjing:IEEE,2014:2969-2974 nal processing,2021,151:107444. [91]AN Jianqi,ZHU Lusha,XIONG Yonghua,et al.Path [80]HUANG Jie,LIANG Zan,ZANG Qiang.Dynamics and planning method for dual cranes considering the changes swing control of double-pendulum bridge cranes with of load ratio[C]//2015 34th Chinese Control Conference. distributed-mass beams[J].Mechanical systems and sig- Hangzhou:IEEE,2015:2774-2779. nal processing,.2015,54/55:357-366. [92]SIVAKUMAR P,VARGHESE K,BABU N R.Auto- [81]TANG Rui,HUANG Jie.Control of bridge cranes with mated path planning of cooperative crane lifts using distributed-mass payloads under windy conditions[J]. heuristic search[J].Journal of computing in civil engin- Mechanical systems and signal processing,2016,72/73: eering,2003,17(3):197-207 409-419. [93]ALI MS A D.BABU N R.VARGHESE K.Collision [82]HUANG Jie,XIE Xumiao,LIANG Zan.Control of free path planning of cooperative crane manipulators us-ings of ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. San Diego: ASME, 2010: 1809−1817. SINGHOSE W E, TOWELL S T. Double-pendulum gantry crane dynamics and control[C]//Proceedings of the 1998 IEEE International Conference on Control Ap￾plications. Trieste: IEEE, 1998: 1205-1209. [72] MAGHSOUDI M J, RAMLI L, SUDIN S, et al. Im￾proved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting[J]. Mechanical systems and signal processing, 2019, 123: 466–482. [73] VAUGHAN J, MALEKI E, SINGHOSE W. Advant￾ages of using command shaping over feedback for crane control[C]//Proceedings of the 2010 American Control Conference. Baltimore: IEEE, 2010: 2308−2313. [74] MASOUD Z N, ALHAZZA K A. Frequency-modula￾tion input shaping control of double-pendulum overhead cranes[J]. Journal of dynamic systems, measurement, and control, 2014, 136(2): (021005)1–11. [75] OUYANG Huimin, ZHANG Guangming, MEI Lei, et al. Residual load sway reduction for double-pendulum overhead cranes using simple motion trajectory[C]//2017 IEEE International Conference on Real-time Computing and Robotics. Okinawa: IEEE, 2017: 327−332. [76] OUYANG Huimin, ZHANG Guangming, MEI Lei, et al. Simple robust control for double-pendulum overhead cranes[C]//2018 IEEE International Conference on Real￾time Computing and Robotics. Kandima: IEEE, 2018: 190−195. [77] ABDEL-RAHMAN E M, NAYFEH A H, MASOUD Z N. Dynamics and control of cranes: a review[J]. Journal of vibration and control, 2003, 9(7): 863–908. [78] WU Qingxiang, WANG Xiaokai, HUA Lin, et al. Im￾proved time optimal anti-swing control system based on low-pass filter for double pendulum crane system with distributed mass beam[J]. Mechanical systems and sig￾nal processing, 2021, 151: 107444. [79] HUANG Jie, LIANG Zan, ZANG Qiang. Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams[J]. Mechanical systems and sig￾nal processing, 2015, 54/55: 357–366. [80] TANG Rui, HUANG Jie. Control of bridge cranes with distributed-mass payloads under windy conditions[J]. Mechanical systems and signal processing, 2016, 72/73: 409–419. [81] [82] HUANG Jie, XIE Xumiao, LIANG Zan. Control of bridge cranes with distributed-mass payload dynamics[J]. IEEE/ASME transactions on mechatronics, 2015, 20(1): 481–486. PENG Jiaohui, HUANG Jie, SINGHOSE W. Payload twisting dynamics and oscillation suppression of tower cranes during slewing motions[J]. Nonlinear dynamics, 2019, 98(2): 1041–1048. [83] WU Qingxiang, WANG Xiaokai, HUA Lin, et al. Mod￾eling and nonlinear sliding mode controls of double pen￾dulum cranes considering distributed mass beams, vary￾ing roped length and external disturbances[J]. Mechanic￾al systems and signal processing, 2021, 158: 107756. [84] ZHAO Xinsheng, HUANG Jie. Distributed-mass pay￾load dynamics and control of dual cranes undergoing planar motions[J]. Mechanical systems and signal pro￾cessing, 2019, 126: 636–648. [85] VAUGHAN J, YOO J, SINGHOSE W. Using approx￾imate multi-crane frequencies for input shaper design[C]// 2012 12th International Conference on Control, Automa￾tion and Systems. Jeju: IEEE, 2012: 639−644. [86] MALEKI E, SINGHOSE W, HAWKE J, et al. Dynamic response of a dual-hoist bridge crane[C]//Proceedings of ASME 2013 dynamic systems and control conference. Palo Alto: ASME. 2014. [87] HUANG Jie, ZHU Kuo. Dynamics and control of three￾dimensional dual cranes transporting a bulky payload[J]. Proceedings of the institution of mechanical engineers, part C:journal of mechanical engineering science, 2021, 235(11): 1956–1965. [88] LIU Zhuoqing, FU Yu, SUN Ning, et al. Collaborative antiswing hoisting control for dual rotary cranes with motion constraints[J]. IEEE transactions on industrial in￾formatics, 2022, 18(9): 6120–6130. [89] AN Jianqi, YU Yan, CAO Weihua, et al. Load distribu￾tion and optimization method for cooperative lifting of double cranes considering the minimal lifting consump￾tion[C]//Proceedings of the 33rd Chinese Control Con￾ference. Nanjing: IEEE, 2014: 2969−2974. [90] AN Jianqi, ZHU Lusha, XIONG Yonghua, et al. Path planning method for dual cranes considering the changes of load ratio[C]//2015 34th Chinese Control Conference. Hangzhou: IEEE, 2015: 2774−2779. [91] SIVAKUMAR P, VARGHESE K, BABU N R. Auto￾mated path planning of cooperative crane lifts using heuristic search[J]. Journal of computing in civil engin￾eering, 2003, 17(3): 197–207. [92] ALI M S A D, BABU N R, VARGHESE K. Collision free path planning of cooperative crane manipulators us- [93] 第 4 期 陈鹤，等：面向大尺寸货物运送的吊车控制方法综述 ·837·