Controlling heaving wave energy converter using function-based model predictive control technique

Abstract

This paper proposes a new reactive control technique for controlling single body heaving wave energy converter (WEC). A function-based continuous model predictive controller (MPC) is implemented to maximize the absorbed energy while respecting the physical limitations of the device. Laguerre orthonormal functions are deployed to approximate the input variable trajectory, which reduces the computational burden associated with MPC. The developed control strategy is evaluated using both monochromatic and polychromatic sea states. The function-based mode predictive controller showed decent reference signal tracking capabilities, optimizing the control effort to achieve maximum power transfer, while respecting the actuators mechanical and electrical limitations. Also the controller provides means to alleviate the problem of excessive real/reactive power flows.