To transfer heavy payloads at construction sites, tower cranes are essential. However, tower cranes are a complex underactuated system due to the strong coupling between the jib, trolley and payload. In addition, the rope length is usually time-varying in order to accomplish the transportation task in a wide three-dimensional space, which results in more complex dynamic characteristics. Hence, through combining full state anti-swing feedback damping with reference trajectories, a real-time modified trajectory planning method is presented for tower cranes with payload lowering/hoisting motion. The proposed method is simple and easy to implement. The system stability is proved strictly based on Lyapunov technique, LaSalle's invariance principle and Barbalat's lemma. In addition, various experiments are carried out and the swing suppression performance of the proposed method was found to be useful and practical, while guaranteeing precise positioning.

为了在建筑工地转移重型有效载荷，塔式起重机必不可少。然而，由于吊臂、小车和有效载荷之间的强耦合，塔式起重机是一个复杂的欠驱动系统。此外，绳索的长度通常是随时间变化的，以在广阔的三维空间内完成运输任务，从而导致更复杂的动态特性。因此，通过将全状态防摆反馈阻尼与参考轨迹相结合，提出了一种具有有效载荷下降/提升运动的塔式起重机的实时修正轨迹规划方法。所提出的方法简单且易于实现。系统稳定性的证明严格基于Lyapunov技术、LaSalle不变性原理和Barbalat引理。此外，