Stable control of rigid flexible fluid coupling system under input constraints

A rigid flexible fluid coupled stable control strategy with unknown inertial characteristics and external disturbances under input constraints was studied. Firstly, the attitude stability control model of a rigid flexible hydraulic coupling system based on quaternions under input constraints was introduced. Secondly, a type-2 fuzzy disturbance observer was designed for rigid flexible fluid coupling, and the stability of the observer was demonstrated using Lyapunov theory. Afterwards, a controller design method combining equivalent control and sliding mode control was proposed, and stability proof was completed. Finally, the effectiveness of the designed controller was verified through simulation experiments. The results show that under input constraints, the controller proposed in this paper can achieve high-precision attitude stability control of complex coupled systems under input constraints, and has good control quality.