Optimal control of wave energy systems considering nonlinear Froude–Krylov effects: control-oriented modelling and moment-based control

Abstract Motivated by the relevance of so-called nonlinear Froude–Krylov (FK) hydrodynamic effects in accurate dynamical description wave energy converters (WECs) under controlled conditions, and apparent lack a suitable control framework effectively capable optimally harvesting ocean such circumstances, we present, this paper, an integrated to achieve objective, means two main contributions. We first propose data-based, control-oriented, modelling procedure, able compute mathematical representation for FK effects, fully compatible with state-of-the-art procedures. Secondly, moment-based optimal solution, transcribing energy-maximising problem WECs subject incorporating corresponding data-based model via theory, real-time capabilities. illustrate application proposed framework, including absorption performance, comprehensive case study, comprising both modelling, heaving point absorber WEC forces.