Invariant-based inverse engineering for fast and robust load transport in a double pendulum bridge crane: https://arxiv.org/abs/1911.02507
We set a shortcut-to-adiabaticity strategy to design the trolley motion in a double-pendulum bridge crane. The trajectories found guarantee payload transport without residual excitation regardless of the initial conditions within the small oscillations regime. The results are compared with exact dynamics to set the working domain of the approach. The method is free from instabilities due boundary effects or to resonances with the two natural frequencies.
На случай, если уважаемой dsgtq_qfle эта задача еще интересна:))