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Modeling and speed limitation control of an electric kick scooter

This paper addresses the problem of designing a speed limiter for an electrically assisted kick scooter. A control-oriented model of the longitudinal dynamics is first derived, by taking into account the scooter/human interaction. A coasting-down experiment is then carried out for parametric identification. Two different speed limiting architectures are finally studied and experimentally tested: a relay-based scheme and a torque controller with dynamical saturation.