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A Hamiltonian Surface-Shaping Approach for Control System Analysis and the Design of Nonlinear Wave Energy Converters

Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI 49931, USA
Sandia National Laboratories, Albuquerque, NM 87123, USA
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2019, 7(2), 48;
Received: 23 January 2019 / Revised: 7 February 2019 / Accepted: 8 February 2019 / Published: 15 February 2019
(This article belongs to the Special Issue Advances in Ocean Wave Energy Conversion)
PDF [5395 KB, uploaded 15 February 2019]


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 forces. The HSS approach presented in this paper can be used as a tool for the design of nonlinear control systems that are guaranteed to be stable. The optimality of the obtained solutions is not addressed in this paper. The case studies presented here cover regular and irregular waves and demonstrate that a nonlinear control system can result in a multiple fold increase in the harvested energy. View Full-Text
Keywords: wave energy conversion; nonlinear control; Hamiltonian surface shaping wave energy conversion; nonlinear control; Hamiltonian surface shaping

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Darani, S.; Abdelkhalik, O.; Robinett, R.D.; Wilson, D. A Hamiltonian Surface-Shaping Approach for Control System Analysis and the Design of Nonlinear Wave Energy Converters. J. Mar. Sci. Eng. 2019, 7, 48.

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