中文摘要：

针对具有开环树状拓扑结构的柔性多体航天器，基于真一伪坐标形式的拉格朗日方程，建立柔性多体航天器的动力学模型，充分考虑了柔性航天器的时变与不确定性的动力学特征，设计了改进的变论域分形模糊控制器，并对该系统进行了仿真验证．仿真结果表明，该方案回避了实时计算收缩因子所导致的论域范围实时收缩的缺点，实现了对柔性多体航天器大角度姿态机动的有效控制，同时保证了航天器柔性附件振动的有效抑制．

英文摘要：

The dynamic model of flexible multi-body spacecraft with topological tree configuration has been established based on the Lagrange＇s equations in terms of quasi-coordinates. The kinematics of the spacecraft is described by Modified Rodrigues Parameters （MRPs）. For this time-varing uncertainty flexible multi-body spacecraft dynamic system, a modified fractal controller via variable universe of discourse was designed and the numerical simulation was done. The results show that this control scheme avoids the flaw caused by real-time calculating of shrinkable factors, realizes the effective control of flexible multi-body spacecraft for large angte attitude maneuver, and assures the vibration suppression of the spacecraft flexible appendages at the same time