For a three-degree-of-freedom wave energy converter (heave, pitch, and surge), the equations of motion could be coupled depending on the buoy shape. This paper presents a multiresonant feedback control, in a general framework, for this type of a wave energy converter that is modeled by linear time invariant dynamic systems. The proposed control strategy finds the optimal control in the sense that it computes the control based on the complex conjugate criteria. This control strategy is relatively easy to implement since it is a feedback control in the time domain that requires only measurements of the buoy motion. Numerical tests are presented for two different buoy shapes: a sphere and a cylinder. Regular, Bretschnieder, and Ochi-Hubble waves are tested. Simulation results show that the proposed controller harvests energy in the pitch-surge-heave modes that is about three times the energy that can be harvested using a heave-only device. This multiresonant control can also be used to shift the energy harvesting between the coupled modes, which can be exploited to eliminate one of the actuators while maintaining about the same level of energy harvesting.

Most control algorithms of wave energy converters require prediction of wave elevation or excitation force for a short future horizon, to compute the control in an optimal sense. This paper presents an approach that requires the estimation of the excitation force and its derivatives at present time with no need for prediction. An extended Kalman filter is implemented to estimate the excitation force. The measurements in this approach are selected to be the pressures at discrete points on the buoy surface, in addition to the buoy heave position. The pressures on the buoy surface are more directly related to the excitation force on the buoy as opposed to wave elevation in front of the buoy. These pressure measurements are also more accurate and easier to obtain. A singular arc control is implemented to compute the steady-state control using the estimated excitation force. The estimated excitation force is expressed in the Laplace domain and substituted in the control, before the latter is transformed to the time domain. Numerical simulations are presented for a Bretschneider wave case study.