Abstract-We consider the problem of frequency synchronization and power sharing in a lossy droop-controlled autonomous microgrid with distributed rotational and electronic generation (MDREG). At first, we establish equivalence of the dynamics of a regulated synchronous generator and a droopcontrolled inverter with low pass filter. We then give a necessary and sufficient condition for local synchronization of the microgrid by using ideas from graph theory and second order consensus algorithms. In addition, we show that sources in an MDREG can achieve a desired active power distribution via frequency droop control and provide synchronization conditions for a lossless microgrid as a special case. Our analysis is further validated via a simulation example of a lossy microgrid based on the CIGRE benchmark medium voltage distribution network.
This paper studies the convergence properties of consensus algorithms for agents with double integrator dynamics communicating over networks modelled by undirected graphs. The positions and velocities of the agents are shared along heterogeneous, i.e. different, undirected communication networks. The main result is that consensus can be achieved, even though the networks along which position and velocity information are shared are different, and not even connected. Insights on the consensus rate are given based only on the topological properties of the network.
In this paper we study topological properties of consensus algorithms for agents with double integrator dynamics communicating over networks modeled by undirected graphs. Unlike existing work we drop the assumption that the positions and the velocities of the agents are shared along homogeneous communication networks. In fact, our main result is that consensus can be achieved even though the networks along which position and velocity information is shared are different, and not even connected. We further provide insights on consensus rate based only on the topological properties of the network and show that unlike in homogeneous networks, consensus type cannot be changed by introducing gains.
In this paper we study formation control of a network of communicating mobile agents with double integrator dynamics. All agents run a consensus algorithm, several leader agents are further subject to an external input. We put this problem in a control theoretical framework and show that the controllability of the entire system via external control input depends only on the controllability of the follower system through the leaders. We then show necessary and sufficient conditions for the follower system to be controllable and relate the obtained conditions to the existing results on topological properties of the follower communication graph.
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