中文摘要：

WANG Peng-Cheng Ph.D. candidate in the Mechanical and Aerospace Engineering Department, Rutgers University, USA. His research interest covers dynamics and control of underactuated overheacl cranes, wheeled mobile robots and underwater autonomous glider. E-mail： mechaerowpc@gmail.com FANG Yong-Chun Professor at the Institute of Robotics and Automatic Information System （IRAIS）, Nankai University. His research interest covers visual servoing, control of underactuated systems including overhead cranes. Corresponding author of this paper. E-mail： yfang@robot .nankai.edu.cn JIANG Zi-Ya Ph.D. candidate at the State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences. His research interest covers dynamics and control of underactuated overhead cranes, disturbance estimation and attenuation of unmanned aerial vehicles. E-mail： hbtmjzy@gmail.com