Abstract This paper presents an analytical solution derived for optimal control of the power take-off of a single-degree of freedom heave point absorber with constraints on the control force. The… Click to show full abstract
Abstract This paper presents an analytical solution derived for optimal control of the power take-off of a single-degree of freedom heave point absorber with constraints on the control force. The optimal control law turns out to be noncausal with a functional dependence on future velocities. To handle this problem, an algorithm for predicting future velocities is derived. Based on the solution the mean (time-averaged) absorbed power in a given sea-state is calculated. The performance of the indicated controller in terms of the mean absorbed power is close to the optimal value obtained by nonlinear programming and better than a controller with feedback from the present displacement, velocity and acceleration, and with optimized gain factors.
               
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