The smooth variable structure filter: A comprehensive review
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
The smooth variable structure filter (SVSF) is a type of sliding mode filter formulated in a predictor-corrector format and has seen significant development over the last 15 years. In this paper, we provide a comprehensive review of the SVSF and its variants. The developments, applications and improvements of the SVSF in terms of robustness and optimality are investigated. In addition, the combination of the SVSF with different filtering strategies is considered in an effort to improve estimation accuracy while maintaining robustness to model uncertainty. State estimation techniques such as the unscented and cubature Kalman filters (UKF & CKF), SVSF, the combination of SVSF with UKF (UK-SVSF), and the combination of CKF with SVSF (CK-SVSF) are applied on a 4-DOF industrial robotic arm. The SVSF state estimation performance is examined under different operating conditions. The results of these filters have been compared based a number of statistics such as the root mean squared error (RMSE) and mean absolute error (MAE), among others. It is shown that the UK-SVSF and CK-SVSF strategies acquire the best performance in the presence of uncertainties.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.003 | 0.001 |
| Open science | 0.003 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it