In this paper we characterize commuting dual Toeplitz operators with harmonic symbols on the orthogonal complement of the Dirichlet space in the Sobolev space. We also obtain the sufficient and necessary conditions fo...In this paper we characterize commuting dual Toeplitz operators with harmonic symbols on the orthogonal complement of the Dirichlet space in the Sobolev space. We also obtain the sufficient and necessary conditions for the product of two dual Toeplitz operators with harmonic symbols to be a finite rank perturbation of a dual Toeplitz operator.展开更多
In this paper we investigate some algebra properties of dual Toeplitz operators on the orthogonal complement of the Dirichlet space in the Sobolev space. We completely characterize commuting dual Toeplitz operators wi...In this paper we investigate some algebra properties of dual Toeplitz operators on the orthogonal complement of the Dirichlet space in the Sobolev space. We completely characterize commuting dual Toeplitz operators with harmonic symbols, and show that a dual Toeplitz operator commutes with a nonconstant analytic dual Toeplitz operator if and only if its symbol is analytic. We also obtain the sufficient and necessary conditions on the harmonic symbols for SφSφψ= Sφψ.展开更多
The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture ...The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture can be accomplished by the space robot.In this paper,a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed.This strategy can reduce the target's rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller.The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely.The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude.The main contributions of this paper are as follows:(1)The compliant control method is adopted to achieve a precise friction control,which can reduce the target angular velocity steadily;(2)The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task;(3)The detumbling strategy of dualarm space robot is designed considering base attitude stabilization,realizing coordinated planning of the base attitude and the arms.The strategy is verified by a dual-arm space robot with two 7-DOF(degrees of freedom)arms.Simulation results show that,target with a rotation velocity of 20(°)/s can be effectively controlled to stop within 30 s,and the final deflection of the base attitude is less than 0.15°without affecting the target capture task,verifying the correctness and effectiveness of the strategy.Except to the tumbling target capture task,the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.展开更多
文摘In this paper we characterize commuting dual Toeplitz operators with harmonic symbols on the orthogonal complement of the Dirichlet space in the Sobolev space. We also obtain the sufficient and necessary conditions for the product of two dual Toeplitz operators with harmonic symbols to be a finite rank perturbation of a dual Toeplitz operator.
文摘In this paper we investigate some algebra properties of dual Toeplitz operators on the orthogonal complement of the Dirichlet space in the Sobolev space. We completely characterize commuting dual Toeplitz operators with harmonic symbols, and show that a dual Toeplitz operator commutes with a nonconstant analytic dual Toeplitz operator if and only if its symbol is analytic. We also obtain the sufficient and necessary conditions on the harmonic symbols for SφSφψ= Sφψ.
基金co-supported by the National Natural Science Foundation of China(Nos.61403038 and 61573066)the Open Research Fund of Key Laboratory of Space Utilization,Chinese Academy of Sciences(Nos.LSU-2016-05-2 and LSUKJTS-2017-02)。
文摘The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture can be accomplished by the space robot.In this paper,a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed.This strategy can reduce the target's rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller.The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely.The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude.The main contributions of this paper are as follows:(1)The compliant control method is adopted to achieve a precise friction control,which can reduce the target angular velocity steadily;(2)The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task;(3)The detumbling strategy of dualarm space robot is designed considering base attitude stabilization,realizing coordinated planning of the base attitude and the arms.The strategy is verified by a dual-arm space robot with two 7-DOF(degrees of freedom)arms.Simulation results show that,target with a rotation velocity of 20(°)/s can be effectively controlled to stop within 30 s,and the final deflection of the base attitude is less than 0.15°without affecting the target capture task,verifying the correctness and effectiveness of the strategy.Except to the tumbling target capture task,the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.
