说明：  围绕着桥式起重机的防摇摆控制，分析了国内外防摇摆技术的研究现状和发展动态， 首先基于拉格朗日动力学方程建立了桥式起重机的动力学模型，并根据系统状态空间方程和李雅普诺夫稳定性定理，分析了系统的能观性、能控性和稳定性
(This paper focuses on the anti swing control of overhead traveling crane, analyzes the research status and development trend of anti swing technology at home and abroad, Firstly, the dynamic model of overhead traveling crane is established based on Lagrange dynamic equationThe observability, controllability and stability of the system are analyzed)