.206. 智能系统学报 第6卷 head cranes with hoisting of the load[J].Automatica. cal systems using switching and saturation[C]//Proceed- 1987,23(4):437-447. ings of Block Island Workshop Control Using Login Based [15]TERASHIMA K,SHEN Y,YANO K.Modeling and opti- Switching.Block Island,USA,1995:162-172. mal control of a rotary crane using the straight transfer [28]BURG T,DAWSON D,RAHN C.Nonlinear control of an transformation method J].Control Engineering Practice, overhead crane via the saturating control approach of Teel 2007,15(9):1179-1192. [C]//Proceedings of the IEEE International Conference on [16]XU Y,IWASE M,FURUTA K.Time optimal swing-up Robotics and Automation.Minneapolis,USA,1996: control of single pendulum[J].ASME Journal of Dynamic 3155-3160. Systems,Measurement,and Control,2001,123(3): [29]张晓华，郭源博.基于嵌套饱和方法的吊车系统非线性 518527. 控制[J].控制工程，2008,15(2)：113-115,212. [17]SUN Ning,FANG Yongchun,MA Bojun.Motion planning ZHANG Xiaohua,GUO Yuanbo.Nonlinear control of o- for overhead cranes based on iterative strategy[C]//Pro- verhead crane based on nested saturation approach[J]. ceedings of the Chinese Control Conference.Beijing,Chi- Control Engineering of China,2008,15(2):113-115, na,2010:326-331. 212. [18]SUN Ning,FANG Yongchun,ZHANG Yudong,et al.A [30]高丙团，张晓华，陈宏钧.基于快速起摆的Furuta摆切 novel kinematic coupling-based trajectory planning method 换控制系统[J].控制与决策，2008,23(11)：1277 for overhead cranes J].IEEE/ASME Transactions on 1280,1285. Mechatronics(accepted). GAO Bingtuan,ZHANG Xiaohua,CHEN Hongjun.Swite- [19 SUN Ning,FANG Yongchun,ZHANG Xuebo,et al. hing control of Furuta pendulum system with aggressive Phase plane analysis based motion planning for underactu- swing-up[J].Control and Decision,2008,23(11): ated overhead cranes[C]//Proceedings of the 2011 Inter- 1277-1280,1285. national Conference on Robotics and Automation.Shang- [31]HU G,MAKKAR G,DIXON W.Energy-based nonlinear hai,China,2011:3483-3488. control of underactuated Euler-Lagrange systems subject to [20]KHALID A,HUEY J,SINGHOSE W,et al.Human op- impacts[J].IEEE Transactions on Automatic Control, erator performance testing using an input-shaped bridge 2007,52(9):1742-1748. crane[J].Joural of Dynamic Systems,Measurement, [32]ASTROM K,FURUTA K.Swinging up a pendulum by en- and Control,2006,128(4):835-841. ergy control[J].Automatica,2000,36(2):287-295. [21]SORENSEN K,SINGHOSE W,DICKERSON S.A con- [33]XIN X,KANEDA M.Analysis of the energy-based control troller enabling precise positioning and sway reduction in for swinging up two pendulums[J].IEEE Transactions on bridge and gantry cranes[J].Control Engineering Prac- Automatic Control,2005,50(5):679-684. tice,2007,15(7):825-837. [34]FANG Y,ZERGEROGLU E,DIXON W,et al.Nonlinear 22]GARRIDO S,ABDERRAHIM M,GIMENEZ A,et al. coupling control laws for an overhead crane system[C]// Anti-swinging input shaping control of an automatic con- Proceedings of the IEEE Interational Conference on Con- struction crane[J].IEEE Transactions on Automation Sci- trol Applications.Mexico City,Mexico,2001:639-644. ence and Engineering,2008,5(3):549-557. [35]MA B,FANG Y,ZHANG Y.Switching-based emergency 23 MALEKI E,SINGHOSE W.Dynamics and zero vibration braking control for an overhead crane system[J].IET input shaping control of a small-scale boom crane[C]/ Control Theory and Applications,2010,4(9):1739- Proceedings of the American Control Conference.Balti- 1747. more,USA,2010:2296-2301. [36]马博军，方勇纯，王宇韬，等.欠驱动桥式吊车系统自适 [24 ]SINGHOSE W,KIM D,KENISON M.Input shaping con- 应控[J].控制理论与应用，2008,25(6)：1105- trol of double-pendulum bridge crane oscillations[J]. 1109. Journal of Dynamic Systems,Measurement,and Control, MA Bojun,FANG Yongchun,WANG Yutao,et al.Adap- 2008,130(3):1-7. tive control for an underactuated overhead crane system 25]MALEKI E,SINGHOSE W,SRINIVASAN S.Positioning [J].Control Theory Applications,2008,25 (6): and control of boom crane luffing with double-pendulum 1105-1109. payloads[C]//Proceedings of the IEEE Interational Con- [37]孙宁，方勇纯，王鹏程，等.欠驱动三维桥式吊车系统自 ference on Control Applications:Part of IEEE Multi-Con- 适应跟踪控制器设计[J].自动化学报，2010,36(9)： ference on Systems and Control.Yokohama,Japan,2010: 1287-1294. 1319-1324. SUN Ning,FANG Yongchun,WANG Pengcheng,et al. 26]SPONG M.Partial feedback linearization of underactuated Adaptive trajectory tracking control of underactuated 3-di- mechanical systems[C]//Proceedings of the IEEE/RSJ/ mensional overhead crane systems[J].Acta Automatica GI International Conference on Intelligent Robots and Sys Sinica,2010,36(9）:1287-1294. tems.Munich,Germany,1994:314-321. [38]MARTON L,LANTOS B.Stable adaptive ball and beam 27]SPONG M,PRALY L.Control of underactuated mechani- system[C]//Proceedings of the IEEE International Confer-