“The forefront of technology news reports that significant breakthroughs have been made in the research of the Dual Frame Maglev Controlled Moment Gyroscope (DGMSCMG) framework system. The expert team successfully proposed a composite decoupling control method based on disturbance observer and adaptive backstepping, which effectively addresses disturbances such as coupling torque between internal and external frameworks and nonlinear transmission torque of harmonic reducers, achieving high-precision angular rate servo control. Simulation and experimental results show that the disturbance estimation error is reduced to within 3%, and the angular rate tracking accuracy is as high as 99.2%, providing strong anti-interference and high-precision control capabilities for the DGMSCMG framework system.”