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.

本文关注用于部署在智能电动自行车（电动自行车）上的人在环系统的设计。从控制理论的角度来看，目标不仅是使用电动自行车的动力辅助来拒绝沿途的干扰，而且还要管理人与电机干预之间可能存在的竞争交互。管理交互的竞争/合作性质对于我们希望控制自行车行为的物理方面（例如心率和呼吸率）的应用程序至关重要。控制的基础是一个干草叉分叉系统，对交互进行建模，并使用增益调度的想法进行增强。已经进行了体内实验，显示了所提出的控制策略的有效性。