Numerical Optimal Control of Wave Energy Converters

Energy maximizing control for wave energy converters (WECs) is a nonstandard optimal control problem. While the constrained optimal control problem for WECs has been addressed by model-predictive control strategies, such strategies need to employ cost function modifications due to convexity problems and the algorithms are computationally complex, making real-time implementation difficult. The recently developed family of direct transcription methods offer a promising alternative, since they are computationally efficient and a convex problem results. Moreover, constraints on both the device displacement and velocity, and power take off force, are easily incorporated. Both single-body and multibody device models can be used, as well as arrays of single-body or multibody devices.