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A Hamiltonian Surface-Shaping Approach For Control System Analysis And The Design Of Nonlinear Wave Energy Converters, Shadi Darani, Ossama Abdelkhalik, Rush D. Robinett Iii, David Wilson

Department of Mechanical Engineering-Engineering Mechanics Publications

The dynamic model of Wave Energy Converters (WECs) may have nonlinearities due to several reasons such as a nonuniform buoy shape and/or nonlinear power takeoff units. This paper presents the Hamiltonian Surface-Shaping (HSS) approach as a tool for the analysis and design of nonlinear control of WECs. The Hamiltonian represents the stored energy in the system and can be constructed as a function of the WEC’s system states, its position, and velocity. The Hamiltonian surface is defined by the energy storage, while the system trajectories are constrained to this surface and determined by the power flows of the applied non-conservative …