Real Time Monitoring and Control of a Hybrid Bicycle - A Sliding Mode Approach

Abstract

The popularity of bicycles are increasing nowadays, even though the internal combustion engines are the fast and furious means of transport. Bicycles are the most ideal means for short commutation and also serve as a workout machine. However, for uneven terrains, bicycles are not a perfect alternative since more efforts are required for a smooth drive. Hybrid bicycle is a solution for this issue. This paper proposes a sliding mode controller for the speed control of a hybrid bicycle. Here, the load applied to the hybrid bicycle has been shared by the rider and the electric motor with the help of the designed sliding mode controller, which helps the rider to have a comfortable ride. The controller proposed here helps in maintaining the angular speed of the hybrid bicycle to a preset value even in the presence of uncertainties. The efficacy of the proposed controller has been demonstrated with the simulation as well as experimental results.