Robust predictive control for heaving wave energy converters

In this paper, a novel robust model predictive controller (R-MPC) for wave energy converters (WECs) is proposed. The controller combines a constrained function-based predictive controller that is responsible for ensuring maximum power extraction and a local model that compensates for system parametric uncertainties and model mismatches. Laguerre polynomials have been deployed to alleviate the computational burden usually associated with the standard MPC techniques. The computer simulation results show that the R-MPC strategy has produced satisfactory and computationally efficient performance with respect to maximizing the captured power, increasing the power conversion efficiency, and enhancing the power take-off (PTO) utilization.