This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints ...This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints of states,so that the computational singularity of the inverse matrix in control command can be avoided,while a linear auxiliary system is introduced to handle with the adverse effect of actuator saturation.The tuning rules for designing parameters in control command and auxiliary system are derived based on the stability analysis of the closed-loop system.It is proved that all closed-loop signals always keep bounded,the prescribed constraints of relative pose tracking errors are never violated,and the pose tracking errors ultimately converge to small neighborhoods of zero.Simulation experiments validate the performance of the proposed robust saturated control strategy.展开更多
This study focuses on the influence of the monitoring method and control complexity on the operator performance in manually controlled spacecraft rendezvous and docking （RVD）. Two one-factor experiments were designe...This study focuses on the influence of the monitoring method and control complexity on the operator performance in manually controlled spacecraft rendezvous and docking （RVD）. Two one-factor experiments were designed on a simulated RVD system. One examined the video guidance and periscope monitoring methods, and the other examined three control complexity levels using one-axis RVD control, two-axis RVD control, and three-axis RVD control. Eighteen male volunteers aged 22-35 participated in the experiments. The results show that the RVD operating time increases with control complexity. Based on the operators＇ findings, the two-axis control is the easiest. The monitoring method has no significant influence on failure rate with the low complexity using one-axis RVD control.展开更多
基金supported in part by the National Natural Science Foundation of China(61903025)the Fundamenta Research Funds for the Central Universities(FRF-GF-18-028B)the China Scholarship Council(201906465028)
文摘This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints of states,so that the computational singularity of the inverse matrix in control command can be avoided,while a linear auxiliary system is introduced to handle with the adverse effect of actuator saturation.The tuning rules for designing parameters in control command and auxiliary system are derived based on the stability analysis of the closed-loop system.It is proved that all closed-loop signals always keep bounded,the prescribed constraints of relative pose tracking errors are never violated,and the pose tracking errors ultimately converge to small neighborhoods of zero.Simulation experiments validate the performance of the proposed robust saturated control strategy.
文摘This study focuses on the influence of the monitoring method and control complexity on the operator performance in manually controlled spacecraft rendezvous and docking （RVD）. Two one-factor experiments were designed on a simulated RVD system. One examined the video guidance and periscope monitoring methods, and the other examined three control complexity levels using one-axis RVD control, two-axis RVD control, and three-axis RVD control. Eighteen male volunteers aged 22-35 participated in the experiments. The results show that the RVD operating time increases with control complexity. Based on the operators＇ findings, the two-axis control is the easiest. The monitoring method has no significant influence on failure rate with the low complexity using one-axis RVD control.
