Synchronization is a crucial phenomenon in many natural and artificial complex network systems. Applications include neuronal networks, formation control and coordination in robotics, and frequency synchronization in electrical power grids. In this paper, we propose the use of a distributed discontinuous coupling protocol to achieve convergence and synchronization in networks of non-identical nonlinear dynamical systems. We show that the synchronous dynamics is a solution to the average of the nodes' vector fields, and derive analytical estimates of the critical coupling gains required to achieve convergence. Numerical simulations are used to illustrate and validate the theoretical results.
Time-Delay Systems with Discrete and Distributed delays: Discontinuous Initial Conditions and Reachability Sets
International Center for Systems and Information Science (CIFASIS), CONICET–UNR（国际系统与信息科学中心（CIFASIS），CONICET-罗萨里奥国立大学）；Facultad de Ingeniería, Universidad de Buenos Aires（布宜诺斯艾利斯大学工程学院）
The paper deals with the problem of distributed fault detection and isolation (FDI) for a group of heterogeneous multi-agent systems. The developed formation for the FDI is taken into account as a distributed observer design methodology, where the interaction between the agent and its neighbors is described as a vector of distributed relative output measurements. Based on two performance indexes $\mathcal{H}_2$ and $\mathcal{H}_{-}$, sufficient conditions are given to ensure the residual signals robust to the disturbances and sensitive with respect to the fault signals. In addition, we show th…
Distributed Model Predictive Control for Optimal Consensus of Constrained Heterogeneous Multi-agent Systems
The Hong Kong University of Science and Technology（香港科技大学）；The University of Hong Kong（香港大学）；HKU Shenzhen Institute of Research and Innovation（香港大学深圳研究院创新）；Beihang University（北京航空航天大学）；Peking University（北京大学）
This paper derives distributed conditions that guarantee the system-wide stability for power systems with nonlinear and heterogeneous bus dynamics interconnected via power network. Our conditions require each bus dynamics should satisfy certain passivity-like conditions with a large enough passivity index, a sufficient requirement of which is dictated by the steady-state power flow. The passivity indices uniformly quantify the impacts on the system-wide stability of individual bus dynamics and the coupling strength from the power network. Furthermore, taking three typical bus dynamics as examp…
In this paper, we propose and experimentally validate a scheduling and control framework for distributed energy resources (DERs) that achieves to track a day-ahead dispatch plan of a distribution network hosting controllable and stochastic heterogeneous resources while respecting the local grid constraints on nodal voltages and lines ampacities. The framework consists of two algorithmic layers. In the first one (day-ahead scheduling), we determine an aggregated dispatch plan. In the second layer (real-time control), a distributed model predictive control (MPC) determines the active and reactiv…
In this paper, we present a model-based frequency controller for microgrids with nonzero line resistances based on a port-Hamiltonian formulation of the microgrid model and real-time dynamic pricing. The controller is applicable for conventional generation with synchronous machines as well as for power electronics interfaced sources and it is robust against power fluctuations from uncontrollable loads or volatile regenerative sources. The price-based formulation allows additional requirements such as active power sharing to be met. The capability and effectiveness of our procedure is demonstra…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered. Techniques from robust and gain-scheduled controller synthesis are employed, in particular the full-block S-procedure, to deal with the decentralized system part in a nominal condition and with the interconnection part in a multiplier condition. Under some structural assumptions, we can decompose the synthesis conditions into conditions that are the size of the…
We propose a distributed deployment solution for a group of mobile agents that should provide a service for a dense set of targets. The agents are heterogeneous in a sense that their quality of service (QoS), modeled as a spatial Gaussian distribution, is different. To provide the best service, the objective is to deploy the agents such that their collective QoS distribution is as close as possible to the density distribution of the targets. We propose a distributed consensus-based expectation-maximization (EM) algorithm to estimate the target density distribution, modeled as a Gaussian mixtur…
A group behavior of a heterogeneous multi-agent system is studied which obeys an "average of individual vector fields" under strong couplings among the agents. Under stability of the averaged dynamics (not asking stability of individual agents), the behavior of heterogeneous multi-agent system can be estimated by the solution to the averaged dynamics. A following idea is to "design" individual agent's dynamics such that the averaged dynamics performs the desired task. A few applications are discussed including estimation of the number of agents in a network, distributed least-squares or median…
In this work we study a distributed optimal output consensus problem for heterogeneous linear multi-agent systems where the agents aim to reach consensus with the purpose of minimizing the sum of private convex costs. Based on output feedback, a fully distributed control law is proposed by using the proportional-integral (PI) control technique. For strongly convex cost functions with Lipschitz gradients, the designed controller can achieve convergence exponentially in an undirected and connected network. Furthermore, to remove the requirement of continuous communications, the proposed control …
This paper develops a distributed solution to the fully-heterogeneous containment control problem (CCP), for which not only the followers' dynamics but also the leaders' dynamics are non-identical. A novel formulation of the fully-heterogeneous CCP is first presented in which each follower constructs its virtual exo-system. To build these virtual exo-systems by followers, a novel distributed algorithm is developed to calculate the so-called normalized level of influences (NLIs) of all leaders on each follower and a novel adaptive distributed observer is designed to estimate the dynamics and st…
This paper presents one of the first real-life demonstrations of coordinated and distributed resource control for secondary frequency response in a power distribution grid. We conduct a series of tests with up to 69 heterogeneous active devices consisting of air handling units, unidirectional and bidirectional electric vehicle charging stations, a battery energy storage system, and 107 passive devices consisting of building loads and photovoltaic generators. Actuation commands for the test devices are obtained by solving an economic dispatch problem at every regulation instant using distribute…
Approximate Gradient Coding for Distributed Learning with Heterogeneous Stragglers
Korea Advanced Institute of Science and Technology School of Electrical Engineering（韩国科学技术院电子工程学院）；Seoul National University Department of Electrical and Computer Engineering（首尔国立大学电气与计算机工程学院）
We propose a distributed (single) target tracking scheme based on networked estimation and consensus algorithms over static sensor networks. The tracking part is based on linear time-difference-of-arrival (TDOA) measurement proposed in our previous works. This paper, in particular, develops delay-tolerant distributed filtering solutions over sparse data-transmission networks. We assume general arbitrary heterogeneous delays at different links. This may occur in many realistic large-scale applications where the data-sharing between different nodes is subject to latency due to communication-reso…
Classical distributed estimation scenarios typically assume timely and reliable exchanges of information over the sensor network. This paper, in contrast, considers single time-scale distributed estimation via a sensor network subject to transmission time-delays. The proposed discrete-time networked estimator consists of two steps: (i) consensus on (delayed) a-priori estimates, and (ii) measurement update. The sensors only share their a-priori estimates with their out-neighbors over (possibly) time-delayed transmission links. The delays are assumed to be fixed over time, heterogeneous, and kno…
