Wave Energy Optimal Control Structure with Second Order Sliding Mode Tracking: Hardware-in-the-Loop Assessment

FACUNDO D. MOSQUERA; NICOLÁS FAEDO; CAROLINA A. EVANGELISTA; JOHN V. RINGWOOD; PAUL F. PULESTON

IEEE Transactions on Sustainable Energy

IEEE - Power and Energy Society

Año: 2023

1949-3029

This paper presents a hardware-in-the-loop assessment of a moment-based optimal controller including a robust super-twisting tracking term. The aim of the overall control structure is to maximise the energy extracted by a flap-type wave energy converter. An experimental assessment is performed via hardware-in-the-loop testing, which allows experiments in acontrolled environment and repeatable conditions. Key aspects of the control structure are analysed in the results, with particular focus on the behaviour of the second-order sliding mode tracking term. Robustness against modelling uncertainties and finite-time convergence are evaluated, initially for a single sea state, and then across three different sea conditions. Excellent tracking performance is observed for all considered operating conditions. Finally, the super-twisting algorithm in the tracking loop is compared with the performance of a linear controller synthesised based on Youla-Kuˇcera parametrisation, observing that the former presents better tracking capabilities, also outperforming in terms of energy extraction.