School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 China;
School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 China;
School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 China;
School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 China;
Coordinate conversion; disturbance observer; electric assisted power; inertial measurement unit; speed control;