Double-layer model predictive control for wave energy converters with model mismatch

To reduce the impact of the model mismatch on the conversion efficiency of wave energy converters (WECs), a double-layer model predictive control (DMPC) method is proposed. Two closely related control layers are included in the DMPC method: (1) The first control layer is compensation control, which deals with the model mismatch by using the prediction data from the second layer. (2) The second layer aims to maximize energy output while taking the compensation value from the first layer into consideration. The sum of the compensation value obtained at the first layer and the control value obtained at the second layer refers to the final control input for the real system. The simulation results demonstrate that the proposed method effectively reduces the impact of the model mismatch and complies with control input and float's position limitations.(c) 2023 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).