Real-time pinch detection algorithm: Robust to impulsive noise

A robust pinch detection algorithm which can be implemented in a cheap microprocessor is proposed for the development of a safety feature in the automotive power window system. To solve the problems caused by the performance degradation of a Hall sensor or real driving situations, the proposed algorithm makes use of the H _∞ state estimation technique. The motivation of this approach comes from the advantage that the H _∞ filter can minimize or bound the worst-case estimation error energy for all bounded energy disturbances. Herein, the pinch torque rate estimator is derived from applying the steady-state H _∞ filter to the augmented model, which includes the motor dynamics and an additional torque rate state. Then, to redesign an appropriate estimator for real-time implementation, the torque rate estimate can be calculated more efficiently than the previous method 1]. Experimental results verify that, with a small amount of computation, the proposed pinch detection algorithm provides fast pinch detection performance superior to the existing method. Furthermore, it guarantees robustness against the worst-case measurement noises. Recommended by Editorial Board member Young Soo Suh under the direction of Editor Young Il Lee. Jung-Hoon Park received the B.E. degree in Electronic Engineering in 1996, and the M.S. degree in Electrical and Electronic Engineering from Yonsei University, Seoul, Korea, in 2002. He worked with Samsung Electronics as an Engineer from 1996 to 1999. He is currently pursuing his doctoral degree at Yonsei University. His research interests include robust control and filtering theory, robot vision, and its applications. Won-Sang Ra received the B.E., M.S., and Ph.D. degrees in Electrical and Electronics Engineering from Yonsei University, Seoul, Korea, in 1998, 2000, and 2009, respectively. From March 2000 to February 2009, he was with the Guidance and Control Department of Agency for Defense Development, Daejeon, as a Senior Researcher. Since March 2009, he has been with the School of Mechanical and Control Engineering, Handong Global University, where he is currently a Full-Time Instructor. His main research topic includes the robust filtering theory and its applications to autonomous vehicle guidance and control. Tae-Sung Yoon received the B.E., M.S., and Ph.D. degrees, in Electrical Engineering from Yonsei University, Seoul, Korea, in 1978, 1980, and 1988, respectively. He worked with the Department of Electrical Engineering at the 2nd Naval Academy, Jinhae, Korea, as a member of the teaching staff from 1980 to 1983. He worked with the Department of Electrical Engineering at Vanderbilt University, Nashville, as a Visiting Assistant Professor from 1994 to 1995. Since 1989, he has been with the Department of Electrical Engineering, Changwon National University, Changwon, Korea where he is currently a Professor. His research interests include robust filtering, mobile robotics, and time-frequency signal processing in instrumentation. Jin-Bae Park received the B.E. degree in Electrical Engineering from Yonsei University, Seoul, Korea, in 1977, and the M.S. and Ph.D. degrees in Electrical Engineering from Kansas State University, Manhattan, in 1985, and 1990, respectively. Since 1992, he has been with the Department of Electrical and Electronic Engineering, Yonsei University, where he is currently a Professor. His research interests include robust control and filtering, nonlinear control, mobile robotics, fuzzy logic control, neural networks, genetic algorithms, and Hadamard-transform spectroscopy. He has served as the Director for the Transactions of the Korean Institute of Electrical Engineers (1998–2003) and the Institute of Control, Automation, and Systems Engineers (1999–2003). He is currently the Editor-in-Chief for the International Journal of Control, Automation, and Systems.