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. 2017 Aug 24;11:43. doi: 10.3389/fnbot.2017.00043

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Copyright © 2017 Jutinico, Jaimes, Escalante, Perez-Ibarra, Terra and Siqueira.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Force control approaches. (A) Recursive Robust Regulator for DMJLS: the block “Platform + Human” corresponds to the state variable model in Equation 20, K_{int,_{θ_k}} and K_{a,_{θ_k}} are the control gains. (B) $H_{\infty}$ control configuration of the system: G_n is the process plant, P is the augmented plant including the weight functions and K_c is the controller.