Terminal weight and constraint design for wave energy converter economic model predictive control problems

The wave energy converter (WEC) control problem aims to make the best use of excitation maximize capture and ensure safe operation across a broad range sea states. This falls into recently developed economic model predictive (EMPC) framework, subject being treated as predictable additive disturbance in problem. However, there are few theoretical developments on EMPC theory that can be directly used, persistent disturbances bring nontrivial problems optimal operation, safety etc. Whilst is beneficial for production objective, it may cause problems. article develops systematic WEC design approach WECs with essential linear hydrodynamical characteristics. By introducing terminal weight state constraint structure, important features such convexity, satisfaction constraints, recursive feasibility guaranteed. Contrary our intuition, we show (1) proposed provides an unbiased estimate ideal conceptual infinite horizon solution, (2) operational range, terms states, extended by imposing constraint. Finally, numerical simulations provided verify efficacy approach.