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A Mode-Switched Control Architecture for Human-in-the-Loop ..:

Ge, Ming-Feng ; Xu, Jing-Zhe ; Liu, Zhi-Wei.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  54 (2024)  4 - p. 2471-2483 , 2024
Link: https://doi.org/10.1109/tsmc.2023.3344879