中文摘要：

针对桥式起重机系统，分析了系统的拉格朗日动力学模型、非线性特性以及防摆控制的研究现状，阐述并总结了采取不同控制策略时的主要控制方法，轨迹跟踪策略包括离线运动规划和输入整形方法，镇定控制策略从经典控制、现代控制和智能控制等方面分别展开，介绍了PID控制、最优控制、滑模控制、反步控制和无源控制，展望了今后进一步的研究方向和问题。

英文摘要：

In terms of the bridge crane system,the paper analyzes current research situations in Lagrange dynamics model,non-linear property,and anti-sway control,and describes some main control methods for different control strategies. The trajectory tracking strategy is composed of off-line motion planning and input shaping method,while the stabilization control strategy is introduced in aspects of classic control,modern control,and intelligent control,etc.Moreover,the pa-per also introduces PID control,optimal control,sliding-mode control,backstepping control,and passivity-based control, giving prospects for further research direction and any issues.