Finite-time observation and trajectory tracking for a direct wave energy converter

In this paper, we address the problem of finite-time observation and trajectory tracking for the control of a direct wave energy converter device. We first consider a simplified model of the system on which we develop an homogeneity-based finite-time observer. Then we design a control able to make the system follow a given reference trajectory in finite-time. Simulation results finally demonstrate the applicability of the method.