Control of power assisted cycle with adjustable apparent drag force

Hidenori Yabushita, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this paper, we propose a new control algorithm for an electrically-power-assisted cycle. The algorithm estimates a drag force for riding the cycle and adjusts it based on rider's conditions using a disturbance observer. By this system, the rider could pedal the cycle as if he/she is on the horizontal road, even if he/she pedal it on uphill road or downhill road. With this system, people could ride the cycle with less pedaling force. In addition, this system requires only a torque sensor and a speed sensor, which are built in conventional electrical cycle. The proposed control algorithm is experimentally applied to a tricycle and experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)1031-1036
Number of pages6
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number4
Publication statusPublished - 2003 Apr 1
Externally publishedYes


  • Disturbance estimation
  • Intelligent equipment
  • Man-machine system
  • Motion control
  • Observer
  • Power assist cycle
  • Power assist system

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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