Real-time latching control of wave energy converter with consideration of wave force prediction

A real-time latching controller with consideration of wave force prediction is developed and applied to a heaving point-absorber to maximize its energy absorption. The control scheme is based on the combination of optimal command theory and first order-one variable grey model GM(1,1). By forecasting the wave forces in the near future, the control action at the next instant is deduced. Simulation results show that the energy absorption is increased due to the real-time controller. Therefore, the developed real-time controller is applicable to an industrial wave energy converter (WEC) in random waves. The effect of wave force prediction deviation is also examined. It is shown that the control efficiency is reduced in the presence of prediction deviation.