Work

H∞ Control for Symmetric Human–Robot Interaction in Initial Attitude Calibration of Space Docking Hardware-in-the-Loop Tests

Year: 2025

Type: article

Abstract: Initial attitude calibration is a critical yet challenging phase in hardware-in-the-loop (HIL) testing for space docking, often hindered by cumbersome procedures, safety concerns, and reliance on external equipment. This paper introduces a human–robot collaborative calibration method based on H∞ robust control. The core objective is to achieve symmetric pose alignment between docking mechanisms by allowing the operator to manually guide the test device, thereby rapidly obtaining initial attitude calibration results. An interactive model incorporating a time delay is established. Using H∞ synthesis, a stabilizing controller is designed to accurately track low-frequency operator commands while strongly suppressing high-frequency disturbances. Notably, the H∞ framework reconstructs an ideal interactive symmetry in human–robot collaboration by compensating for delays and disturbances. The solution to the Riccati equation within a game-theoretic framework effectively achieves symmetric optimization that balances tracking accuracy with safety constraints. Experimental results demonstrate that the method successfully compensates for system delays, enabling symmetric pose alignment while maintaining smooth and continuous motion of the docking mechanism. It also faithfully translates the operator’s low-frequency traction intent into motion. By retaining contact forces/torques within safe thresholds, the method balances interaction safety with operational precision, ultimately providing a reliable solution for initial attitude calibration in space docking HIL tests.

Source: Symmetry

DOI: 10.3390/sym17111922

Authors: Xiao Zhang, Yonglin Tian, Zainan Jiang, Yun He, Zhen Zhao

Institutions: Shenyang Institute of Automation, Chinese Academy of Sciences, Harbin Institute of Technology, State Key Laboratory of Robotics and Systems, University of Chinese Academy of Sciences

Language: English

Topic: Teleoperation and Haptic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funders: National Natural Science Foundation of China, Natural Science Foundation of Liaoning Province, Shenyang Institute of Automation