Kalman filtering strategies utilizing the chattering effects of the smooth variable structure filter

The Kalman filter (KF) remains the most popular method for linear state and parameter estimation. Various forms of the KF have been created to handle nonlinear estimation problems, including the extended Kalman filter (EKF) and the unscented Kalman filter (UKF). The robustness and stability of the EKF and UKF can be improved by combining it with the recently proposed smooth variable structure filter (SVSF) concept. The SVSF is a …