A　collaborative　control　technology　based　on　multi-agent　is　proposed　for　busbar　lifting.　Firstly,　the　three-stage　gearbox　and　VVVF　of　asynchronous　motors　are　analyzed　to　establish　the　dynamic　model　of　the　winch.　Secondly,　A　spatial　posture　model　for　the　busbar　has　been　established.　Thirdly,　each　winch　and　the　central　control　tablet　computer　are　regarded　as　a　follower　and　a　virtual　leader　of　multi-agent　system,　respectively.　LQR-DCCC　and　LQR-ESO　was　designed.　Finally,　the　stability　conditions　of　the　multi-agent　system　were　analyzed.　Simulation　and　experiment　results　indicate　that　the　proposed　technology　enables　eight　winches　to　track　the　prescribed　motion　state　for　the　horizontal　lifting　of　the　busbar.　©　2024　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.