提出一种基于变伸缩域模糊逼近器的直接自适应控制策略.通过在线更新广义模糊基函数的变伸缩因子,实现模糊系统论域及其模糊划分的自适应调整,从而能够以精简的模糊规则实现理想的逼近效果.此外,通过设计积分型逼近误差补偿,避免了鲁棒补偿中的高频控制输入.仿真研究和比较分析验证了所提出的控制方法的有效性和优越性. This paper proposes a direct adaptive control strategy based on variable-shrinkage fuzzy approximation. By updating the variable scaling factor of the generalized fuzzy basis function online, the fuzzy system domain and its fuzzy adjustment can be adaptively adjusted, And the ideal approximation effect is achieved.In addition, by designing integral approximation error compensation, the high frequency control input in robust compensation is avoided.The simulation and comparative analysis verify the effectiveness and superiority of the proposed control method.