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This paper is concerned with the design of a human-in-the-loop system fordeployment 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 rejectdisturbances along the route but also to manage the possibly competitiveinteractions between a human and the motor intervention. Managing thecompetitive/cooperative nature of the interactions is crucial for applicationsin 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 pitchforkbifurcation system, modeling the interactions, augmented using ideas fromgain-scheduling. In vivo experiments have been conducted, showing theeffectiveness of the proposed control strategy.

Pitchfork-bifurication-based competitive and collaborative control of an E-bike system