Abstract
A bicycle is a major and commonly-used transportation for parents with small children.Bicycles riding with children are rapidly widespread,and those bicycles tend to carry an electrically-assisted pedaling system for riders to reduce pedaling load.A typical assist method may cause speed fluctuation due to pedaling torque fluctuation during low-speed biking.This study tried to overcome this problem by introducing the combination of a bias control and a repetitive control synchronizing with the crank angle.The effectiveness of the proposed control system is verified through numerical simulations and experiments.
