智能空间刚架作为太空望远镜支撑架是一种新型 智能空间结构. 为抑制刚架系统在运动过程中产生的振动, "文章提出了一种基于自抗扰控制的非线性模糊自抗扰控制理论, 并设计出模糊自抗扰控制器. 首先采用有限元方法计算出空间刚架的质量矩阵、阻尼矩阵和刚度矩阵,进而建立系统模型并设计出自抗扰控制器以实现对系统振动的抑制. 基于普通自抗扰控制器，利用模糊推理在线整定控制器中非线性状态误差反馈的参数. 该控制器不依赖于被控对象的精确数学模型, 具有良好的控制性能, 同时参数的在线自整定简化了调参难度. 仿真实验验证了所提方法的有效性.

Intelligent space rigid frame is a new kind of space structure being used in the support frame of the space telescope. In order to suppress the vibration in the movement of the system, the innovative nonlinear fuzzy active disturbance rejection control (ADRC) theory based on ADRC algorithm is proposed, and then a novel fuzzy ADRC controller is designed. Firstly, the finite element method is utilized to calculate the mass matrix, damping matrix, and stiffness matrix to model the space rigid frame. Furthermore, an effective ADRC controller based on the rough mathematical model is constructed to suppress the vibration. On the basis of these, a fuzzy ADRC scheme that utilizes the fuzzy inference is proposed to realize the parameters self-tuning of the nonlinear state error feedback (NLSEF) for the system. It brings a favourable vibration suppression performance without relying on the exact mathematical model as well as simplifies the parameters tuning problem by fuzzy inference online. Finally, the effectiveness of the proposed method is illustrated by simulation results.