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 distributed ratio-consensus, primal-dual, and Newton-like algorithms. The distributed control setup consists of a set of Raspberry Pi end-points exchanging messages via an ethernet switch. The problem formulation minimizes the sum of device costs while tracking the setpoints provided by the system operator. We demonstrate accurate and fast real-time distributed computation of the optimization solution and effective tracking of the regulation signal by measuring physical device outputs over 40-minute time horizons. We also perform an economic benefit analysis which confirms eligibility to participate in an ancillary services market and demonstrates up to $53K of potential annual revenue for the selected population of devices.
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…
We study cooperative output feedback tracking control of stochastic linear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time linear heterogeneous dynamics with incompletely measurable state, and there are additive and multiplicative noises along with information exchange among agents. We propose a set of admissible distributed observation strategies for estimating the leader's and the followers' states, and a set of admissible cooperative output feedback control strategies based on the certainty equivalence principle. By output regulation theory and stochasti…
In smart energy communities, households of a particular geographical location make a cooperative group to achieve the community's social welfare. Prosumers are the users that both consume and produce energy. In this paper, we develop stochastic and distributed algorithms to regulate the number of consumers and the number of prosumers with heterogeneous energy sources in the smart energy community. In the community, each prosumer has one of the heterogeneous energy sources such as solar photovoltaic panels or wind turbines installed in their household. The prosumers and consumers decide in a pr…
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 investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication graph topology, containing a spanning tree. First, for all agents whose state matrix has no eigenvalues with positive real parts, a communication-delay-related observer, which is used to construct the controller, is designed for followers to estimate the leader's state information. Second, by means of the output regulation theory, the results are relaxed to…
Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets
Massachusetts Institute of Technology（麻省理工学院）；MIT Lincoln Laboratory（MIT林肯实验室）；Woods Hole Oceanographic Institution（伍兹霍尔海洋研究所）；Charles Stark Draper Laboratory（查尔斯·斯塔克·德拉珀实验室）；Brigham Young University
