Abstract:How to improve the safety of unmanned systems under disturbances and confrontation situations has emerged as a crucial and challenging problem. Drawing inspiration from nature, the survival intelligence of unmanned systems has three key elements: safety, immunity, and green. Taking the control torque gyro as an example, this paper focuses on explaining the meaning of green control from the perspective of manipulation, including refined characterization of disturbances and closed-loop quantitation analysis technology, recognition and separation technology of multiple disturbances and uncertainties, and refined anti-disturbance technology under multi-dimensional constraints. This paper endows the actuator with "intelligent nerves" by designing a green control algorithm with "energy-saving, time-saving, effort-saving, and burden-saving" characteristics. The purpose of this paper is to improve the actuator's autonomous anti-disturbance capabilities under multi-dimensional constraints, as well as the autonomy, safety, and reliability of the unmanned system in extreme environments (such as dangerous, special, harsh, catastrophic, and confrontational scenarios).