This paper investigates a new wave energy converter (WEC) control problem, which is the energy maximization subject to sensor and actuator faults. Unexpected deviation of system variables from standard conditions, defined as a fault, degrades the control performance and even introduces damages breaking down the whole system. Fault detection for wave energy converters is therefore of great importance in maintaining the high reliability of the system. This paper presents a robust fault diagnosis approach effectively detecting sensor and actuator faults in real-time. A compensator is then designed to minimize the influence from faults and maintain the control performance. A non-causal linear optimal control is applied to maximize the energy output, in which the future excitation force is incorporated to determine the current control action. This approach can also be straightforwardly applied to other control methods. The parameters of the proposed fault detection method and fault-tolerant control method can be calculated off-line, which enhances the real-time implementation with a low computational burden. A realistic sea wave collected from the coast of Cornwall, U.K. is used to demonstrate the efficacy of the proposed approach.

中文翻译：

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波能转换器能量最大化的故障诊断与容错控制

本文研究了一种新的波浪能转换器 (WEC) 控制问题，即传感器和执行器故障时的能量最大化问题。系统变量与标准条件的意外偏差（定义为故障）会降低控制性能，甚至会导致损坏整个系统。因此，波浪能转换器的故障检测对于保持系统的高可靠性非常重要。本文提出了一种强大的故障诊断方法，可有效地实时检测传感器和执行器故障。然后设计一个补偿器以最小化故障的影响并保持控制性能。应用非因果线性最优控制来最大化能量输出，其中结合未来的激振力来确定当前的控制动作。这种方法也可以直接应用于其他控制方法。所提出的故障检测方法和容错控制方法的参数可以离线计算，从而以低计算负担增强了实时性。从英国康沃尔海岸收集的真实海浪用于证明所提出方法的有效性。