Simulation Dataset for Virtual-Ship-Guided Trajectory Planning and Fault-Tolerant Control of Underactuated Ships
Year: 2026
Type: dataset
Abstract: This dataset contains numerical simulation data supporting the research entitled "Virtual-Ship-Guided Trajectory Planning and Fault-Tolerant Control for Underactuated Ship Departure under Compound Actuator Faults and Uncertainties." The simulations are conducted using the KVLCC2 ship model in a reconstructed Zhanjiang Port departure scenario. The proposed framework combines virtual-ship-guided model predictive path integral (MMG-MPPI) trajectory planning, recursive least squares (RLS) actuator-effectiveness estimation, sliding-mode disturbance observation (SMO), and integral sliding-mode fault-tolerant control (ISMC). The simulations consider environmental disturbances, model uncertainties, compound actuator faults, and actuator constraints. The dataset supports the evaluation and comparison of trajectory-planning performance, tracking accuracy, actuator-fault estimation, disturbance compensation, and control responses under the simulated operating conditions. All results are derived from numerical simulations rather than physical or real-ship experiments.
Author: Liu, Wenming
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7221869154