Control of space vehicles rendezous at the stage of docking

The system of automatic and manual docking and maneuvering of the type used on spacecrafts ''Cosmos-186''-''Cosmos-188'', ''Cosmos-212''-''Cosmos-213'', ''Soyuz-2''-''Soyuz-3'' and ''Soyuz-4''-''Soyuz-5'' is considered. The equations of the motion, the laws of control and the system block diagram are presented. The effect of parallaxes at short relative distances is studied in detail.