{"id":"https://openalex.org/W4416092762","doi":"https://doi.org/10.3390/sym17111922","title":"H\u221e Control for Symmetric Human\u2013Robot Interaction in Initial Attitude Calibration of Space Docking Hardware-in-the-Loop Tests","display_name":"H\u221e Control for Symmetric Human\u2013Robot Interaction in Initial Attitude Calibration of Space Docking Hardware-in-the-Loop Tests","publication_year":2025,"publication_date":"2025-11-10","ids":{"openalex":"https://openalex.org/W4416092762","doi":"https://doi.org/10.3390/sym17111922"},"language":"en","primary_location":{"id":"doi:10.3390/sym17111922","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17111922","pdf_url":"https://www.mdpi.com/2073-8994/17/11/1922/pdf?version=1762772148","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/17/11/1922/pdf?version=1762772148","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056783629","display_name":"Xiao Zhang","orcid":"https://orcid.org/0000-0001-9495-2341"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Zhang","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0001-9495-2341","affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yonglin Tian","orcid":"https://orcid.org/0009-0005-4035-7332"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonglin Tian","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0009-0005-4035-7332","affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108054659","display_name":"Zainan Jiang","orcid":"https://orcid.org/0000-0001-5640-7190"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zainan Jiang","raw_affiliation_strings":["Song Jiang Laboratory, Harbin Institute of Technology, Harbin 150001, China","State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Song Jiang Laboratory, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100565244","display_name":"Yun He","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yun He","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100423046","display_name":"Zhen Zhao","orcid":"https://orcid.org/0000-0003-0044-5512"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhen Zhao","raw_affiliation_strings":["Aerospace System Engineering Shanghai, Shanghai 201109, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace System Engineering Shanghai, Shanghai 201109, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100565244","https://openalex.org/A5108054659"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41197961,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":"11","first_page":"1922","last_page":"1922"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.5982000231742859,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.5982000231742859,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.1096000000834465,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.0560000017285347,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6157000064849854},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.41499999165534973},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4041999876499176},{"id":"https://openalex.org/keywords/algebraic-riccati-equation","display_name":"Algebraic Riccati equation","score":0.35429999232292175},{"id":"https://openalex.org/keywords/riccati-equation","display_name":"Riccati equation","score":0.3481999933719635},{"id":"https://openalex.org/keywords/three-dimensional-space","display_name":"Three-dimensional space","score":0.34200000762939453},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.3239000141620636}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6615999937057495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6157000064849854},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4212000072002411},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.41499999165534973},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4041999876499176},{"id":"https://openalex.org/C13847129","wikidata":"https://www.wikidata.org/wiki/Q4723989","display_name":"Algebraic Riccati equation","level":4,"score":0.35429999232292175},{"id":"https://openalex.org/C45473103","wikidata":"https://www.wikidata.org/wiki/Q851503","display_name":"Riccati equation","level":3,"score":0.3481999933719635},{"id":"https://openalex.org/C157498722","wikidata":"https://www.wikidata.org/wiki/Q34929","display_name":"Three-dimensional space","level":2,"score":0.34200000762939453},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3328000009059906},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3239000141620636},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.3158999979496002},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.305400013923645},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C2988672794","wikidata":"https://www.wikidata.org/wiki/Q11475","display_name":"Free space","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C41685203","wikidata":"https://www.wikidata.org/wiki/Q1974042","display_name":"Docking (animal)","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/sym17111922","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17111922","pdf_url":"https://www.mdpi.com/2073-8994/17/11/1922/pdf?version=1762772148","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/sym17111922","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym17111922","pdf_url":"https://www.mdpi.com/2073-8994/17/11/1922/pdf?version=1762772148","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4330622235","display_name":null,"funder_award_id":"2023JC1K11","funder_id":"https://openalex.org/F4320335655","funder_display_name":"Shenyang Institute of Automation"},{"id":"https://openalex.org/G6958284962","display_name":null,"funder_award_id":"2025-MS-084","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G7166472679","display_name":null,"funder_award_id":"52575012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null},{"id":"https://openalex.org/F4320335655","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4416092762.pdf"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W2045554378","https://openalex.org/W2786184250","https://openalex.org/W2806263811","https://openalex.org/W3197857320","https://openalex.org/W4220747189","https://openalex.org/W4224138906","https://openalex.org/W4283455136","https://openalex.org/W4285125065","https://openalex.org/W4289336806","https://openalex.org/W4386450258","https://openalex.org/W4388430584","https://openalex.org/W4389428505","https://openalex.org/W4389608292","https://openalex.org/W4400233389","https://openalex.org/W4400233789","https://openalex.org/W4401700997","https://openalex.org/W4402046666"],"related_works":[],"abstract_inverted_index":{"Initial":[0],"attitude":[1,67,195],"calibration":[2,34,68,196],"is":[3,44,77,85],"a":[4,31,74,82,123,190],"critical":[5],"yet":[6],"challenging":[7],"phase":[8],"in":[9,107,197],"hardware-in-the-loop":[10],"(HIL)":[11],"testing":[12],"for":[13,112,145,193],"space":[14,198],"docking,":[15],"often":[16],"hindered":[17],"by":[18,53,110],"cumbersome":[19],"procedures,":[20],"safety":[21,135,184],"concerns,":[22],"and":[23,114,155],"reliance":[24],"on":[25,37],"external":[26],"equipment.":[27],"This":[28],"paper":[29],"introduces":[30],"human\u2013robot":[32,108],"collaborative":[33],"method":[35,142,181],"based":[36],"H\u221e":[38,80,100],"robust":[39],"control.":[40],"The":[41,116],"core":[42],"objective":[43],"to":[45,57,87,118],"achieve":[46],"symmetric":[47,128,149],"pose":[48,150],"alignment":[49,151],"between":[50],"docking":[51,160,199],"mechanisms":[52],"allowing":[54],"the":[55,60,99,119,141,159,166,180],"operator":[56,91],"manually":[58],"guide":[59],"test":[61],"device,":[62],"thereby":[63],"rapidly":[64],"obtaining":[65],"initial":[66,194],"results.":[69],"An":[70],"interactive":[71,105],"model":[72],"incorporating":[73],"time":[75],"delay":[76],"established.":[78],"Using":[79],"synthesis,":[81],"stabilizing":[83],"controller":[84],"designed":[86],"accurately":[88],"track":[89],"low-frequency":[90,168],"commands":[92],"while":[93,152],"strongly":[94],"suppressing":[95],"high-frequency":[96],"disturbances.":[97,115],"Notably,":[98],"framework":[101,125],"reconstructs":[102],"an":[103],"ideal":[104],"symmetry":[106],"collaboration":[109],"compensating":[111],"delays":[113],"solution":[117,192],"Riccati":[120],"equation":[121],"within":[122,177],"game-theoretic":[124],"effectively":[126],"achieves":[127],"optimization":[129],"that":[130,140],"balances":[131,182],"tracking":[132],"accuracy":[133],"with":[134,185],"constraints.":[136],"Experimental":[137],"results":[138],"demonstrate":[139],"successfully":[143],"compensates":[144],"system":[146],"delays,":[147],"enabling":[148],"maintaining":[153],"smooth":[154],"continuous":[156],"motion":[157],"of":[158],"mechanism.":[161],"It":[162],"also":[163],"faithfully":[164],"translates":[165],"operator\u2019s":[167],"traction":[169],"intent":[170],"into":[171],"motion.":[172],"By":[173],"retaining":[174],"contact":[175],"forces/torques":[176],"safe":[178],"thresholds,":[179],"interaction":[183],"operational":[186],"precision,":[187],"ultimately":[188],"providing":[189],"reliable":[191],"HIL":[200],"tests.":[201]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-11-10T00:00:00"}
