The invention relates to the technical field of multi-degree-of-freedom
motion control and self-stabilization platforms, in particular to an error compensation control method for a self-stabilization holder under multi-
branch-chain redundancy
collaboration, which comprises the following steps of: acquiring a
pose and a disturbance
signal based on
branch chain physical topology, constructing a disturbance propagation path, and identifying a main error source
branch chain and a secondary error branch chain; performing
orthogonal decomposition on the error component of the main error source branch chain, and mapping the error of each secondary error branch chain to a unified error coordinate
system; extracting
time domain features of the direction and amplitude error, and generating a corresponding compensation
signal; distributing a branch chain weight according to the disturbance
intensity ratio, and constructing a redundant branch chain cooperative control instruction; synchronously driving each branch chain to execute compensation, and verifying whether the attitude error is converged or not; and if not, correcting the
error identification parameter and the disturbance model, and feeding back to the control cycle. According to the invention, multi-branch chain high-dynamic coordination and error self-learning compensation can be realized, and the
attitude stability and anti-disturbance capability of the holder are improved.