Distributed PI-control with applications to power systems frequency control

Andreasson, Martin; Dimarogonas, Dimos V.; Sandberg, Henrik; Johansson, Karl Henrik

doi:10.1109/acc.2014.6858999

Cited by 78 publications

(87 citation statements)

References 10 publications

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“…Equations (3)-(4) are analogous to the quadratic optimization of AC power generation costs, c.f., [3], [11]. The quadratic cost function of the voltages (5) has no analogy in the corresponding secondary AC frequency control problem.…”

Section: Remarkmentioning

confidence: 99%

“…To overcome this potential issue, a novel controller is proposed. The proposed controller takes inspiration from the control algorithms given in [3], [5], [24], and is given by…”

Section: Distributed Averaging Controller IIImentioning

confidence: 99%

“…Distributed controllers have been successfully applied to both primary, secondary, and to some extent also tertiary frequency control of AC transmission systems [3], [24], [16], [4], [18]. Although the dynamics of HVDC grids can be modelled with a lower order model than AC grids, controlling DC grids may prove more challenging.…”

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confidence: 99%

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Distributed Controllers for Multiterminal HVDC Transmission Systems

Andreasson

Dimarogonas

Johansson

2017

IEEE Trans. Control Netw. Syst.

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Abstract-High-voltage direct current (HVDC) is an increasingly commonly used technology for long-distance electric power transmission, mainly due to its low resistive losses. In this paper the voltage-droop method (VDM) is reviewed, and three novel distributed controllers for multi-terminal HVDC (MTDC) transmission systems are proposed. Sufficient conditions for when the proposed controllers render the equilibrium of the closed-loop system asymptotically stable are provided. These conditions give insight into suitable controller architecture, e.g., that the communication graph should be identical with the graph of the MTDC system, including edge weights. Provided that the equilibria of the closed-loop systems are asymptotically stable, it is shown that the voltages asymptotically converge to within predefined bounds. Furthermore, a quadratic cost of the injected currents is asymptotically minimized. The proposed controllers are evaluated on a four-bus MTDC system.

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Section: Remarkmentioning

confidence: 99%

“…To overcome this potential issue, a novel controller is proposed. The proposed controller takes inspiration from the control algorithms given in [3], [5], [24], and is given by…”

Section: Distributed Averaging Controller IIImentioning

confidence: 99%

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Distributed Controllers for Multiterminal HVDC Transmission Systems

Andreasson

Dimarogonas

Johansson

2017

IEEE Trans. Control Netw. Syst.

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“…It is interesting to note that the DAPI control can also be applied to the conventional AGC case [18], and it has been independently derived for parallel (star) topologies [21] as a continuous-time demand response strategy. Finally, variations of the DAPI control (19) with similar performance but other signal flows (e.g., additionally integrating edge flows) can also be derived from the perspectives of network flow optimization [22], [28] or dynamic consensus [29], [30].…”

Section: B Distributed Averaging Pi (Dapi) Controlmentioning

confidence: 99%

“…Next, we review the distributed averaging-based PI (DAPI) control strategy [14], [15], [18], [21] the effectiveness of which has been confirmed experimentally [16]. We show that DAPI control successfully regulates the frequency, maintains the injections and stability properties of the primary control in presence of unknown loads, and does not require any separation of time scales.…”

Section: Introductionmentioning

confidence: 99%

Plug-and-play control and optimization in microgrids

Dörfler

Simpson-Porco

Bullo

2014

53rd IEEE Conference on Decision and Control

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Abstract-A hierarchical layering of primary, secondary, and tertiary control is the standard operation paradigm for bulk power systems. Similar hierarchical decision architectures have been proposed for microgrids. However, the control objectives in microgrids must be achieved while allowing for robust plugand-play operation and maximal flexibility, without hierarchical decision making, time-scale separations, and central authorities. Here, we explore control and optimization strategies for the three decision layers and illuminate some possibly-unexpected connections and dependencies among them. Our analysis builds upon first-principle models and decentralized droop control. We investigate distributed architectures for secondary frequency regulation and find that averaging-based distributed controllers using communication among the generation units offer the best combination of flexibility and performance. We further leverage these results to study constrained AC economic dispatch in a tertiary control layer. We show that the minimizers of the economic dispatch problem are in one-to-one correspondence with the set of steady-states reachable by droop control. This equivalence results in simple guidelines to select the droop coefficients, which include the known criteria for load sharing.

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Robust output synchronization of linear multi‐agent systems with constant disturbances via integral control

Wang

Cao

Sun

2017

Intl J Robust & Nonlinear

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This paper solves the robust output synchronization problem for a group of linear agents subject to constant disturbances on directed graphs. A new distributed control protocol with integral action is first proposed with the assumption that each agent has access to its own state. Then, an observer-based implementation of the control protocol is illustrated for the case that the agents do not have access to their states. Compared with existing methods, the new distributed protocol does not require exchanging of the controller states or output states among neighboring agents. Finally, simulation results of a group of low-speed experimental unmanned aerial vehicles show the effectiveness of the proposed methods. 1629dling such a problem. The one in [27] can be called the feedforward approach, which makes use of the solution of the regulator equations and a distributed observer to design an appropriate feedforward term to exactly cancel the steady-state tracking error. The other one in [28] is called the distributed internal model approach. By employing a distributed internal model, this approach can convert the cooperative output regulation problem of an uncertain multi-agent system to a simultaneous eigenvalue assignment problem of a multiple augmented system composed of the given multi-agent system and the distributed internal model. The advantage of this approach is that it can tolerate perturbations of the plant parameters and does not need to solve regulator equations. The common setup of these two approaches is that an autonomous linear exosystem is introduced, and the local output regulation problem with respect to the exosystem should be solved. This captures tracking and disturbance rejection problems, where both external disturbances and reference signals are modeled by the exosystem. The cooperative output regulation problem can be solved by distributed estimation of the exosystem and classical output regulation at each node with respect to the local estimate of the exosystem [24]. Different from the work discussed earlier, this study deals with local disturbances that may act on any agent in the group, and estimating the full vector of all disturbances is not necessary.In this paper, a distributed control protocol with integral action is presented, by which a group of linear multi-agent systems can achieve robust output synchronization despite constant disturbances. Moreover, we propose an observer-based implementation of the new control protocol for the case that the agents do not have access to their states. In summary, this paper contributes a comprehensive framework in which robust output synchronization of high-order multi-agents is preserved in spite of constant disturbances. Due to newly devised PI controllers, the results provide new insights to the output synchronization of practical networks, such as low-speed experimental unmanned aerial vehicles (UAVs), complementing recent literature. Technically, this study is most relevant to [24,25]. Specifically, reference [24] integrates the output amon...

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Distributed PI-control with applications to power systems frequency control

Cited by 78 publications

References 10 publications

Distributed Controllers for Multiterminal HVDC Transmission Systems

Distributed Controllers for Multiterminal HVDC Transmission Systems

Plug-and-play control and optimization in microgrids

Robust output synchronization of linear multi‐agent systems with constant disturbances via integral control

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