对多变量解析非线性系统提出了一种新的自适应控制方法，即扩展线性化自适应控制。并将其用于含有不确定参数的空间多柔性杆机械臂的位置控制中。数字仿真结果说明了这一方法的有效性。 A new adaptive control method for multivariable nonlinear systems is proposed, which is extended linear adaptive control. It is also used in the position control of a space flexible multibaric robot with uncertain parameters. The numerical simulation results show the effectiveness of this method.