Pitchfork-bifurcation-based competitive and collaborative control of an e-bike system

DOI10.1016/J.AUTOMATICA.2022.110595MaRDI QIDQ2097752zbMATH OpenOpenAlexWikidataFDO

Authors Shaun Sweeney, Hugo Lhachemi, Andrew Mannion, Giovanni Russo, Robert N. Shorten

Publication date 14 November 2022

Published in Automatica (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2109.11582

zbMATH Keywords

control applicationsreal-time controlhuman-in-the-loophybrid electric bicycles

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Application models in control theory (93C95) Experimental work for problems pertaining to systems and control theory (93-05)

Abstract: This paper is concerned with the design of a human-in-the-loop system for deployment on a smart pedelec (e-bike). From the control-theoretic perspective, the goal is not only to use the power assistance of the e-bike to reject disturbances along the route but also to manage the possibly competitive interactions between a human and the motor intervention. Managing the competitive/cooperative nature of the interactions is crucial for applications in which we wish to control physical aspects of the cycling behavior (e.g. heart rate and breathing rate). The basis of the control is a pitchfork bifurcation system, modeling the interactions, augmented using ideas from gain-scheduling. In vivo experiments have been conducted, showing the effectiveness of the proposed control strategy.

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Cites work

• Optimal energy management in series hybrid electric bicycles
• Research on gain scheduling
• Survey of gain-scheduling analysis and design

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