Human control model in teleoperation rendezvous

This paper proposes a human control model in teleoperation rendezvous on the basis of human information processing （perception, judgment, inference, decision and response）. A predictive display model is introduced to provide the human operator with predictive information of relative motion. By use of this information, the longitudinal and lateral control models for the operator are presented based on phase plane control method and fuzzy control method, and human handling qualities are analyzed. The integration of these two models represents the human control model. Such a model can be used to simulate the control process of the human operator, which teleoperates the rendezvous with the aid of predictive display. Experiments with human in the loop are carried out based on the semi-Physical simulation system to verify this human control model. The results show that this human control model can emulate human operators＇ performance effectively, and provides an excellent way for the analysis, evaluation and design of the teleoperation rendezvous system.