A novel digital twin model based bio-heuristic sliding mode control algorithm for trajectory tracking control of USV in the presence of complex marine environment disturbance

•USV’s trajectory tracking controller is designed based on digital twin model•Digital twin model of USV is established based on a novel AFF-RLS algorithm•Adaptive forgetting factor is proposed to flexibly adjust weights for historical data•Bio-heuristic function is presented to reduce abrupt changes...

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Bibliographic Details

Published in:	Robotics and autonomous systems Vol. 195; p. 105219
Main Authors:	Dong, Zaopeng, Lu, Sihang, Hu, Zhihao, Liu, Wangsheng, Ding, Yilun, Liu, Yuanchang
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 01.01.2026
Subjects:	Adaptive forgetting factor recursive least square (AFF-RLS) Digital twin model Radial basis function neural network (RBFNN) Sliding mode control (SMC) Trajectory tracking control Unmanned surface vessel (USV) Radial basis function neural network (RBFNN) Unmanned surface vessel (USV) Sliding mode control (SMC) Adaptive forgetting factor recursive least square (AFF-RLS) Trajectory tracking control Digital twin model
ISSN:	0921-8890
Online Access:	Get full text
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