Abstract: A method for collaborative heave compensation control of a dual ship-mounted hoisting arm system including two vertical hoisting arms and two horizontal hoisting arms is provided, in which a dynamic model of the hoisting arm system is constructed based on hoisting arm position and velocity and an attitude angle of a load of the hoisting arm system; and based on the dynamic model, an optimal control strategy is obtained according to a control objective and an optimization objective under multiple constraint conditions to control the hoisting arm action, where the control objective is to track a hoisting arm reference compensation trajectory during the heave motion, the optimization objective is to minimize a tracking error, and the constraint conditions include a hoisting arm action constraint, and a position and velocity constraint of each hoisting arm after action. A system for implementing such method is also provided.