Proceedings, 2nd IFAC Conference on

Proceedings, 2nd IFAC Conference on

Modelling, Identification
Proceedings, and Controlon
2nd IFAC Conference of Nonlinear Systems
Modelling, Identification and Control of Nonlinear
Available Systems
online at www.sciencedirect.com
Proceedings,
Guadalajara,
Modelling, 2nd IFAC
Mexico,
IdentificationConference
June 20-22,
and on
2018
Control of Nonlinear Systems
Guadalajara, Mexico, June 20-22, 2018
Modelling, Identification
Guadalajara, Mexico, June and Control
20-22, of Nonlinear Systems
2018
Guadalajara, Mexico, June 20-22, 2018
ScienceDirect
IFAC PapersOnLine 51-13 (2018) 229–234
Distributed
Distributed Energy
Energy Dispatch
Dispatch of
of Electrical
Electrical
Distributed
Energy Energy
Storage Systems Dispatch
Using of Electrical
Distributed
Energy Energy
Storage Systems Dispatch
Using ofConsensus
Electrical
Consensus
Energy Storage Systems Using Consensus
Control
Energy Storage Systems
Control Approach
Using Consensus
Control Approach
Approach
Control Approach ∗,∗∗
Wenjing Xie ∗,∗∗∗
∗,∗∗∗ Xiaohua Xia ∗,∗∗
Wenjing Xie ∗,∗∗∗ ∗,∗∗∗ Xiaohua Xia ∗,∗∗
Wenjing Xie ∗,∗∗∗ Xiaohua Xia ∗,∗∗
Wenjing Xie Xiaohua Xia ∗,∗∗
∗ Department of Electrical, Electronic and Computer Engineering,
∗
∗ Department of Electrical, Electronic and Computer Engineering,
∗ University of
Department of Pretoria,
Electrical,Pretoria
Electronic 0002,
andSouth
∗ University of Pretoria, Pretoria 0002, South Africa. (e-mail:
ComputerAfrica. (e-mail:
Engineering,
Department
University of of Pretoria,
Electrical, Electronic
Pretoria
xxia@up.ac.za). andSouth
0002, ComputerAfrica. Engineering,
(e-mail:
University of Pretoria, xxia@up.ac.za).
Pretoria 0002, South Africa. (e-mail:
∗∗
Northeastern University, Shenyang,
xxia@up.ac.za). 110004, China
∗∗ Northeastern University, Shenyang, 110004, China
∗∗
∗∗∗ School of
∗∗∗ ∗∗ Computer
Northeastern and xxia@up.ac.za).
Information
University, Science,
Shenyang, Southwest
110004, China University,
∗∗∗ School ∗∗of Computer and Information Science, Southwest University,
Northeastern University, Shenyang, 110004, China
∗∗∗ Chongqing,
School of
Chongqing, Computer400715,
400715, and China (e-mail:
Information
China xiewenjing@swu.edu.cn)
Science,
(e-mail: Science, Southwest
xiewenjing@swu.edu.cn) University,
∗∗∗
School of Computer
Chongqing, 400715, and Information
China Southwest University,
(e-mail: xiewenjing@swu.edu.cn)
Chongqing, 400715, China (e-mail: xiewenjing@swu.edu.cn)
Abstract: Energy Energy dispatch
dispatch task task of of electrical energy
energy storage
storage systems
systems (EESSs)(EESSs) contains
contains the the state
Abstract:
Abstract:
of charge Energy
(SoC) dispatch
balance and the of electrical
tasksupply-demand
electrical energy balance, storagewhere systems
the (EESSs)
former contains
ensures the the state
maximum state
of charge (SoC)
Abstract: Energy balance
dispatchand thetask supply-demand
of electrical balance,
energy storagewhere the former
systems (EESSs)ensures the maximum
contains the state
power
of charge
power capacity
(SoC)
capacity of
of the
balance group
the group and of
the EESSs, and
supply-demand
of EESSs, the latter
balance,
and the latter maintains
where
maintains thethe load
former
theformer operation
ensures
load operation theand
and reduces
maximum
reduces
of charge
energy
power (SoC)
lost.
capacity A balance
unified
of the and the
switching
group of supply-demand
model
EESSs, is
and the balance,
established
latter for where
both
maintains the
charging
the and
load ensures
discharging
operation theandmaximum
processes
reduces
energy
power lost. A unified
capacity of the switching
group model isand
of EESSs, established
latterfor both charging andoperation
discharging andprocesses
of EESSs.
of EESSs.
energy EESSs
lost.EESSs
A unified areswitching
are assumed
assumed to share
model
to share athe
common
is established
a common formaintains
communication
both charging
communication
the load network.
and discharging
network. Dependent
Dependent
reduces
processes on
on
energy
of
the EESSs.lost.
communicationA
EESSsunifiedare switching
assumed
between model
EESSs, to is
share
three established
a common
distributed for both charging
communication
energy dispatch and discharging
network.
algorithms Dependent
are processes
proposed on
the
of communication
EESSs. EESSs are between
assumed EESSs, three adistributed
to share common energy dispatch algorithms
communication network. are proposed
Dependent on
based
the
based on
on consensus
consensus control
communication between
control approach,
EESSs,
approach, graph
three theory
theory and
graphdistributed Lyapunov
andenergy
Lyapunov method.
dispatch
method. Without
algorithms
Withoutare considering
proposed
considering
the
basedcommunication
constraints,
on the
consensus first between
algorithm
control EESSs,
is
approach, three
designedgraph todistributed
determine
theory and energy
the dispatch
charging/discharging
Lyapunov method. algorithms
Without powerare proposed
reference
considering
constraints,
based on EESS the firstcontrol
consensus algorithm is designed
approach, graph to theory
determine and the charging/discharging
Lyapunov method. Without power reference
considering
of every
of every
constraints,EESS theasas thealgorithm
first
the sum of
sum of aisnominal
a nominal
designed power value
to determine
power value and
andthe an SoC-based
charging/discharging
an SoC-based correction
correction power term,
term, where
reference
where
constraints,
of
the every
nominalEESS the
term first
as thealgorithm
and sum
the of aisnominal
correction designed
term to
powerdetermine
value and
respectively theancharging/discharging
decrease SoC-based
the correction
supply-demand power term,
and reference
thewhere
SoC
the
of nominal
every EESS termas and
the sumthe correction
of a nominal termpowerrespectively
value decrease
and anthe the supply-demand
SoC-based correction and
term, the SoC
where
imbalances.
the nominal
imbalances. By
term
By applying
and
applying the aa dynamic
correction
dynamic saturation
term
saturation function
respectively
function to
decrease
to the first
the
first algorithm,
supply-demand
algorithm, aa second
and
second the one
oneSoC is
is
the nominal satisfying
constructed
imbalances. termapplying
By and the the acorrection
dynamic term
charging/discharging respectively
saturation mode
function decrease
switching
to the the supply-demand
constraint
first and
algorithm, the
a and
power
second theone SoC
limit is
constructed
imbalances. satisfying
Bytheapplying the charging/discharging mode switching constraint and the power limit
constraint. On
constructed
constraint. Onsatisfying
the basis
basis ofacharging/discharging
theof dynamic
the
the secondsaturation
second algorithm,function
algorithm, aaa third
mode third to
onethe
switching
one is
first
is obtained
obtained algorithm,
constraint byand
by
a second
additionally
the
additionally
one
taking
powertakinglimit is
constructed
constraint.
into account On
account the satisfying
the
the SoC basis the
SoC limit. of charging/discharging
the second
limit. Lyapunov algorithm,
Lyapunov stability mode third
stability analysis switching
one
analysis shows is constraint
obtained
shows that that the by and the
additionally
the third
third algorithmpower
algorithm not limit
taking
not
into
constraint. Onthe theSoCbasis of the second algorithm, aanalysis
third one isalso
obtained
only
into
only asymptotically
account
asymptotically realizes
limit.
realizes the energy
Lyapunov
the energy dispatch
stability objective
dispatch objective but
shows
but alsothat thebythird
satisfies
satisfies
additionally
the
the power
algorithm
power and
and
taking
SoC
not
SoC
into
only account
constraints,
asymptoticallythe SoC
provided limit.
that
realizes the Lyapunov
thecommunication stability
energy dispatch graph analysis
objective shows
is undirected
undirected
but also that
and the third
connected.
satisfies the poweralgorithm
Effectiveness
and SoC not
constraints,
only
constraints, provided
asymptotically
provided that
realizes
that the
thethecommunication
energy
communication dispatch graph
objective
graph is
is but
undirected also and connected.
satisfies
and the
connected. Effectiveness
power and
Effectiveness SoC
of the third
of third algorithm
algorithm is is demonstrated by by simulation results. results.
of the
constraints,
the third provided
algorithmthat is demonstrated
the communication
demonstrated by simulation
graph isresults.
simulation undirected and connected. Effectiveness
© 2018,
of IFACalgorithm
the third (International Federation of Automatic
is demonstrated Control)
by simulation Hosting by Elsevier Ltd. All rights reserved.
results.
Keywords: Energy
Keywords: Energy storage
storage systems,
systems, energyenergy dispatch,
dispatch, distributed
distributed control,
control, consensus control. control.
Keywords: Energy storage systems, energy dispatch, distributed control, consensus consensus control.
Keywords: Energy storage systems, energy dispatch, distributed control, consensus control.
1. INTRODUCTION
1. INTRODUCTION the
the dispatch
dispatch task task of of EESSs:
EESSs: the the supply-demand
supply-demand balance balance
1. INTRODUCTION the
and dispatch
the SoC task of EESSs:
balance. The the supply-demand
supply-demand balance balance
is
1. INTRODUCTION and
the the SoC
dispatch balance.
task ofsuppliedThe
EESSs: supply-demand
the supply-demand balance is that
balancethat
Nowadays, electrical energy storage units are widely ap- and
the the SoCoutputs
power balance. The supply-demand
from renewable balance is that
generations
Nowadays, electrical energy storage units are widely ap- the the power outputs supplied from renewable generations
Nowadays,
plied inin powerelectrical
power grids. energy
With energy storagestorage,
energy units are the widely
imbalance ap- and and
and power
the
power
EESSs SoCoutputs
EESSs outputs
balance.
need
need to
The supply-demand
supplied
meet
meet load
to supplied load
from renewable
demands
demands
balance
with is that
generations
aa low/zero
with generations
low/zero
plied
Nowadays, grids.
electrical With
energy storage storage,
units the
are imbalance
widely ap- the
and EESSs need to meet load from renewable
demands with a low/zero
plied
between
between
in power grids. With
intermittent
intermittent
energy generations
renewable
renewable
storage, the and
generations time- energy lost (Xu et al., 2015). The SoC balance is that
imbalance
and time-
energy lost (Xu et al., 2015). The SoC balance is that
plied
between in power grids.
intermittent With energy
renewable storage,
generations the imbalance
and time- and
energy
EESSs EESSslost need
have (Xu
the to al.,
et
same meet load SoC
2015).
dynamic demands SoC with
The value balance
(Morstyna low/zero
isetthat
al.,
varying
varying load
load demands can
demands renewable
can be be reduced
be reduced
reduced or vanished,
or vanished,
vanished, de-
de- EESSsEESSs have the same dynamic SoC value (Morstyn et al.,
between
varying intermittent
load demands can generations
or and time-
de- energy
2015; Lilost
haveet (Xu
the
al., et
same al.,
2017). 2015).
dynamic
Reasons The
SoC of SoC
value balance
(Morstyn
balancing the iset that
SoCsal.,
creasing
creasing the
the usage
usage of
of fossil
fossil fuel
fuel and
and electricity
electricity cost
cost (Suberu
(Suberu 2015; Li et al., 2017). Reasons of balancing the SoCs
varying load demands canfuel beandreduced or vanished, de- 2015;EESSs
of have
Li etarethe
al., same
2017). dynamic
Reasons SoC ofvalue (Morstyn
balancing the et
SoCsal.,
creasing
et al.,
et
the Bragard
al., 2014;
2014; usage
Bragard
of fossil
et al.,
et al., 2010).
2010).
electricity
Charging
Charging
costdischarg-
and
and
(Suberu
discharg- of EESSs
2015; EESSs Li etareal.,summarized
summarized
2017).
as
as two
Reasons two of
aspects
aspects
balancing
in
in the(Cai
(CaiSoCs and
and
creasing
et
ingal., the usage
2014;control
power of fossil
Bragardofetsuch fuel
al., 2010).and electricity
storageCharging
units plays cost (Suberu
and discharg-
plays a crucial of
Hu, EESSs
2016; are
Xu summarized
et al., 2017). as
crucial Hu, 2016; Xu et al., 2017). Firstly, it protects EESSs two
Firstly, aspects
it in
protects (CaiEESSs and
ing power control ofetsuch
such storage units aa crucial of EESSs are
Xu summarized 2017).asFirstly,
two aspects in (Cai and
et
ingal.,
role
role in
in
2014;
power saving
saving
Bragard
control
energy
energy
of al., supporting
and
and
2010).
storage
supporting
Charging
units
load
load
and discharg-
plays
operation.
operation. So Hu,
So
from
from 2016;
2016;
overcharging
overcharging
et al.,
or
or overdischarging
overdischarging
it aprotects
at
at higher
aprotects
EESSs
higher system
system
ing power control ofandsuch storage units
loadplays a crucial Hu,
from
So level. Xu
overcharging
Secondly, et al.,
or 2017). Firstly,
overdischarging it
at a higher EESSs
system
role
far, in saving
far, energy
energy
energy
dispatch
dispatch
andcontrol
and
supporting
control of
of single
single
operation.
storage
storage device
device Secondly, the
level. overcharging
from the EESSs
EESSs
or EESSs
with
with balancing
overdischarging balancing
at the
a higher
SoCs
SoCssystem have
have
role
far,
have inbeen
energysaving energyand
dispatch
extensively and supporting
control
researched ofvia load
single operation.
storage
optimization deviceSo level.
and the
the
Secondly,power
maximum
maximum
the
power capacity.
capacity.
with
Without
Without
balancing
the SoC
SoC
SoCs have
balance
balance
have been extensively researched via optimization and level. Secondly, the EESSs with balancing SoCs have
far,
have energy
control
control
been dispatchaiming
extensively
techniques,
techniques,
andresearched
aiming
control
to maximize
to
ofvia
maximize single storage
optimization
the
the renewable
renewable en- the
device
and
en-
maximum some
consideration,
consideration,
powerEESSs
some
capacity.
EESSs will Without
stop
stop working
willWithout
the SoC
working when
when
balance
their
their
have
control been extensively
techniques, aiming researched
to maximize via optimization
the renewable and
en- the
SoCs maximum
consideration,
reach the power
some
high capacity.
EESSs
or low will
limit. stop
In this the
workingcase,SoCwhen
thebalance
their
power
ergy
ergy usage
usage and simultaneously
and simultaneously
simultaneously satisfy
satisfy loadload
load demands
demands and and
and SoCs reach the high or low limit. In this case, the power
control techniques, aiming to maximize the renewable en- SoCs consideration,
capacity reachof thesomehigh EESSs low will
orEESSs limit. stop working
In this case, when their
thea power
ergy usage
constraints
constraints
and
(Sichilalu
(Sichilalu et
et al.,
al., 2016;
satisfy
2016; Tazvinga
Tazvinga
demands
et
et al.,
al., 2015;
2015; capacity
SoCs reachof the overall
overall
high orEESSs
low
may
mayIndecrease
limit. decrease
this case,
with
with the
worse
a power
worse
ergy usage
constraints
Zhu etet al., and simultaneously
(Sichilalu
al., 2015;
2015; et al.,
Sichilalu and2016; satisfy load
Tazvinga
Xia, 2015).
2015). Withdemands
et the and
al., devel- capacity of the
performance. overall EESSs
2015; system performance. Typical results incorporating the two
system Typical may
results decrease
incorporating with atheworse
Zhu Sichilalu and Xia, With the devel- capacity of theobtained
overall EESSs may decrease with athe two
worse
constraints
Zhu
opmentet al.,
of (Sichilalu
2015; Sichilalu
battery et
technology al., 2016;
andand Tazvinga
Xia,sensor
2015).network, et
With the al., 2015; system
devel-
multiple balances
balances
performance.
are
are obtained
Typical
in
in (Lu
(Lu
results
et
et
incorporating
al.,
al., 2014,
2014, 2015;
2015;
two
Yang
Yang
opment
Zhu of battery
et al., battery
2015; technology
Sichilalu and
andand Xia, sensor network,
2015).network,
With the multiple system
devel- balances
et performance.
are Caiobtained Typical
in 2016;
(Luresults incorporating
etXual., 2014, 2015;the two
Yang
opment of
package-level
package-level
technology
electrical
electrical energy
energy
sensor
storage
storage systems
systems
multiple
(EESSs)
(EESSs) et al.,
al., 2017;
balances 2017;
are Cai and
and Hu,
obtained Hu,
in 2016;
(Lu etXual.,et al.,
al., 2017).
et 2014, 2017).
2015;
In
InYang(Lu
(Lu
opment of battery technology andstorage
sensor network, multiple et
of et al., al., 2017; Cai and Hu, 2016; Xu et al., 2017). In (Lu
package-level
also receive
also receive electrical
much
much attention.
attention.
energy Every
Every EESS
EESS
systems
is composed
is
(EESSs)
composed of al., 2014,
al., 2014, 2015;
2015; Yang
Yang et
et al.,
al., 2017),
2017), independent
independent of
of
package-level
also
seriesreceive
and/or electrical
much attention.
parallel energy
configured storage
Every EESS
battery systems
is
cells. (EESSs)
composed of et al., 2017;
communications2014, Cai 2015; andYang
between Hu, EESSs,
2016;
et al.,Xu et al.,independent
2017),
decentralized 2017).adaptive
In (Lu of
series and/or parallel configured battery cells. communications
et al., 2014, 2015; between
Yang EESSs,
et al., decentralized
2017), independentadaptive of
also receive
series and/ormuch attention.
parallel configured Every EESScells.
battery is composed of communications
droop
droop control
control strategies
betweenwere
strategies
EESSs,
were proposed
proposed
decentralized
to
to tune
tune the
adaptive
the droop
droop
For an
series an EESS,
and/or the configured
parallel charging/discharging
battery cells. power refer-refer- droopcommunications
coefficient control
according between
strategies to SoC.EESSs,
were In proposed
(Cai decentralized
and to
Hu, tune
2016), adaptive
the droop
for the
For
For EESS, the charging/discharging power coefficient according to SoC. In (Cai and Hu, 2016), for the
ence an
ence is
EESS, thebycharging/discharging
is determined
determined by dispatch algorithm,
dispatch algorithm, and power
and the refer-
the volt-
droop
volt- coefficient
EESS control
with strategies
according
higher weredesigned
to SoC.
SoC, the Inproposed
(Cai and to
Hu, tune
distributed 2016),the droop
for
dispatch the
For
ence an
is EESS,
determined
age/current controller the by
controller is charging/discharging
dispatch
is designed
designed toalgorithm,
to adjust power
and
adjust the the refer-
the actualvolt-
actual EESS EESS
coefficient with higher
according SoC, the
to SoC. designed
In (Cai and distributed
Hu, 2016), dispatch
for the
age/current algorithm withassigned
higher SoC, more the designed
discharging distributed
(less charging) dispatch
power
ence
power istodetermined
age/current controller
track the by dispatch
is designed
reference. Therealgorithm,
to
are adjust
two and thetheactual
objectives volt-
in algorithm
EESS assigned
withassigned
higher SoC, morethedischarging
designed(less (less charging)
distributed power
dispatch
power to track
track the reference.
reference. There to areadjust
two objectives
objectives in algorithm more discharging charging) power
age/current
power to controller
the is designed
There are two the actual in algorithm assigned more discharging (less charging) power
power to track the reference. There are two objectives
2405-8963 © 2018, IFAC (International Federation of Automatic Control) in Hosting by Elsevier Ltd. All rights reserved.
Proceedings, 2nd IFAC Conference on 229
Proceedings, 2nd IFAC
Peer reviewIdentification
under Conference
responsibility on
of International 229 Control.
Federation of Automatic
Modelling,
Proceedings, and Control
2nd IFAC Conference of Nonlinear
Modelling, Identification and Controlon
10.1016/j.ifacol.2018.07.283 of Nonlinear 229
Proceedings,
Systems
Modelling, 2nd IFAC
IdentificationConference
and Control onof Nonlinear 229
Systems
Modelling,
Systems Identification
Guadalajara, Mexico, Juneand Control
20-22, 2018of Nonlinear
2018 IFAC MICNON
230
Guadalajara, Mexico, June 20-22, 2018 Wenjing Xie et al. / IFAC PapersOnLine 51-13 (2018) 229–234


than the estimated average value of desired total power, ρi t
Si (t) = Si (0) − Ii (t)dt, i ∈ V, (1)
and for the one with lower SoC, assigned less discharging Qi 0
(more charging) power. In (Xu et al., 2017), a distributed
where V = {1, 2, · · · , n} is the index set of EESSs, Si (t) ∈
power dispatch strategy was constructed by borrowing an
(0, 1) denotes the SoC of the ith EESS, and (ρi , Qi , Ii )
economic dispatch algorithm. However, the determination
respectively represents the Coulombic efficiency, the ca-
of power reference in (Lu et al., 2014, 2015; Yang et al.,
pacity and the output current of the ith EESS. Coulombic
2017) had to rely on the information of all the EESSs and
efficiency ρi satisfies ρi = 1 in discharging mode and
therefore were not distributed, constraints on power and
ρi ∈ (0, 1) in charging mode. Output current Ii is (Li et al.,
SoC were not considered in (Cai and Hu, 2016), and in (Xu
2017):
et al., 2017) the total charging/discharging power was only 
able to track the initial (not the real time) supply-demand 1/ζdi , (discharging),
Ii = σi Pi /Vi , σi =
mismatch. Based on these observations, energy dispatch of ζci , (charging),
EESSs remains a hot topic of investigation. where Pi denotes the output power of the ith converter,
This paper concerns how to realize the energy dispatch Vi is the output voltage of the ith EESS, and σi is related
task of EESSs with power and SoC constraints. The to the converter efficiencies (ζdi , ζci ) of the ith converter
unified switching mode is firstly presented by using the during discharging and charging operations. It is assumed
sign function. The consensus control approach is applied that Vi is time-invariant (Li et al., 2017). SoC equation (1)
to solve the dispatch problem. To guarantee the system can be rewritten as:

stability under constraints, three algorithms are derived ρi σi t
Si (t) = Si (0) − Pi (t)dt, i ∈ V. (2)
one by one. The first algorithm is designed in case of Qi Vi 0
no constraints, then by additionally utilizing the dynamic
saturation function, a second one is proposed in case of Based on (2), the charging/discharging process of the ith
constrained power, and a final one is obtained in case EESS can be described by:
of constrained power and SoC. Convergence of all the Si (k + 1) = Si (k) − T ηi (k)Pi (k),
three algorithms is proved by Lyapunov method, under the
assumption that the communication graph is undirected where k is the sampling time, T is the sampling interval,
and connected. Simulation cases illustrate the effectiveness and

of the proposed third algorithm.  1
ρi σi   ηdi > 0, (discharging)
The rest of this paper is organized as follows. Section 2 ηi (k) = = ρdiζ i Vi
ζ Q
Qi Vi 
 i ci  ηci > 0, (charging).
formulates the energy dispatch problem of multiple EESSs.
Qi Vi
Section 3 solves this problem using the consensus control
approach. Simulation examples are provided in Section 4 Assume that all the EESSs have the same model, i.e.,
to demonstrate the effectiveness of the proposed dispatch ηi (k) = η(k), thus
strategy. Finally, Section 5 concludes this work. Si (k + 1) = Si (k) − T η(k)Pi (k). (3)

2. PROBLEM FORMULATION Every EESS has three modes: charging, discharging and
stop modes, and (3) is a switching system. Denote the
2.1 Simplified structure of EESSs in a microgrid global supply-demand mismatch by:
PM (k) = PL (k) − PG (k), (4)
generations where PL (k) and PG (k) are the total load demand and the
G G  G total power generation respectively. If PM (k) > 0 (< 0),
Bus PG1 PG2 PGm EESS i (i ∈ V) is in discharging or stop (charging or stop)
operation with η(k) = ηd (ηc ) and Pi (k) ≥ 0 (≤ 0), where
P1 P2 P3 Pn-1 Pn PL ηd = ηdi and ηc = ηci . If PM (k) = 0, the n EESSs stop
1 2 3  n-1 n Loads
working with Pi (k) = 0, which is not our consideration in
this paper. Therefore, η(k) has the unified form:
EESS EESS EESS EESS EESS
communication network η(k) = 0.5sign(PM (k)) [sign(PM (k)) + 1] ηd
  
+
PM (k)
Fig. 1. Simplified structure of EESSs in microgrid. (5)
+ 0.5sign(PM (k)) [sign(PM (k)) − 1] ηc ,
  
As shown in Fig. 1, renewable generations and EESSs are PM
−
(k)
installed in the microgrid, in order to provide electrical
energy to loads. The EESSs store the surplus power when where sign(·) is the sign function. To make EESSs
the power generation is more than load demand, otherwise operate in appropriate modes, we propose the charg-
return the stored energy to loads. Suppose that there are ing/discharging mode switching constraint:
n EESSs in the microgrid. PM (k)Pi (k) ≥ 0. (6)
Other two constraints for security of EESSs (Xu et al.,
2.2 Unified model of charging/discharging process of EESSs 2015) are
Pmin ≤ Pi (k) ≤ Pmax , (7)
The SoC of an EESS can be calculated by (Cai and Hu,
2016) Smin ≤ Si (k) ≤ Smax , (8)

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where Pmax > 0, Pmin < 0, Pmax and Pmin are maximum
power allowed to discharge and charge EESS i, and Smin
and Smax are respectively the lower and the upper limits
of SoC.
Now, the unified switching model of EESSs is established
as (3) and (5) with the constraints (6), (7) and (8).
2.3 Communication network of EESSs
To make the EESSs cooperatively charge and discharge
for their group objective, we suppose that the EESSs com-
pose a communication network based on wireless sensors
(Sudevalayam and Kulkarni, 2011). In this network, they
can share information (e.g., Si (k) and ηi (k)) with each
other, as shown in Fig. 1. Model the information flow be-
tween them as a communication graph G(V, E, A), where
V = {1, 2, · · · , n} is the index set of EESSs, E ⊂ V ×V is an
edge set of ordered pairs of EESSs, and A = [aij ] ∈ Rn×n
is the adjacency matrix with entries aij = 1 or aij = 0
(Olfati-Saber and Murray, 2004). If EESS i can receive
information from EESS j, then (j, i) ∈ E, aij = 1 and
EESS j is called the communication neighbor of EESS i,
denoted by j ∈ Ni , where Ni = {j ∈ V|aij = 1}. If EESS
i cannot have access to the information of EESS j, then
/ E, aij = 0 and j ∈ Ni . Self-connection is not
(j, i) ∈
considered for G, i.e., aii = 0, ∀i ∈ V (Olfati-Saber and
Murray, 2004). A graph G is undirected if aij = aji for
any i, j ∈ V. The Laplacian matrix L = [lij ] ∈ Rn×n is
defined as: 
if j = i;
 −a

n
ij ,
 
lij = aij , if j = i.

 j∈Ni
j=1
For undirected connected graph, L = LT has the following
properties (Olfati-Saber and Murray, 2004):
−
→ small positive constant, then the dispatch strategy (12)
0 = λ1 < λ2 ≤ λ3 ≤ · · · ≤ λn , L 1 = 0,
−
→ globally asymptotically converge to zero and Pe (k) = 0.
where (λ1 , λ2 , · · · , λn ) are the eigenvalues of L, and 1 =
[1, 1, · · · , 1]T ∈ Rn . To achieve distributed dispatch, we
make the following Assumption.
Assumption 1. The communication graph G(V, E, A) of
EESSs is undirected and connected.
2.4 Energy dispatch objective
The energy dispatch objective of EESSs considered in this
paper is stated as (Cai and Hu, 2016): under Assumption
1, design a distributed dispatch strategy Pi (i ∈ V) for
EESS i only using the information of its communication
neighbors and itself, such that under constraints (6)-(8),
the SoCs of the n EESSs reach a balance
Si (k) − Sj (k) → 0, ∀i, j ∈ V, (10)
and the power tracking error
 
 n  V (k) = S T (k)LS(k) ≥ 0,
Pe (k) =  Pi (k) − PM (k) (11)
i=1
is minimized after (10) is achieved. Objective (10) ensures
the SoC balancing between EESSs, and minimizing Pe (k)
guarantees the supply-demand balance as well as reduces
energy lost in charging and discharging operations. Rea-
sons and physical meanings of the SoC balance can be
found in (Cai and Hu, 2016). For the general case of
Smin  Si  Smax , Pi (k) can be adjusted such that
Pe (k) → 0. For the special cases that Si (k) is close or equal
to Smax /Smin in charging/discharging mode, |Pi (k)| must
be small or zero such that Si (k+1) remains in [Smin , Smax ],
and Pe (k) can only be minimized rather than Pe (k) → 0.
The energy dispatch objective is asymptotically achieved
if for any initial SoCs satisfying Si ∈ [Smin , Smax ], the SoC
balancing errors (Si (k) − Sj (k), i, j ∈ V) are asymptoti-
cally convergent to zero, the power tracking errors Pe (k)
is minimized after Si (k) − Sj (k) → 0, and the constraints
(6)-(8) are met.
3. DISTRIBUTED ENERGY DISPATCH
In this section, we employ multiagent consensus control
idea to develop the first dispatch scheme without consid-
ering constraints, then extend it to the case of constraints,
solving the energy dispatch problem of multiple EESSs.
3.1 Algorithm design without constraints
For sake of simplicity, we assume that the power and
SoC variables are not subject to constraint. Based on the
consensus control idea in (Olfati-Saber et al., 2007), we
propose the distributed dispatch algorithm
ε  
Pi (k) = Pave (k) + aij [Si (k) − Sj (k)] , (12)
η(k)
j∈Ni
where ε > 0, the term Pave (k) = PMn(k) is the nominal
power component corresponding to thesupply-demand
balance, and the SoC balance error aij [Si (k) −

Sj (k)] is correction term.
Lemma 1. If Assumption 1 holds and ε is a sufficiently
(9) guarantees the SoC balance errors Si (k) − Sj (k) (i, j ∈ V)
Proof. Define
S(k)  [S1 (k), S2 (k), · · · , Sn (k)]T ,
P (k)  [P1 (k), P2 (k), · · · , Pn (k)]T (13)
−
→
= Pave (k) 1 + εη −1 (k)LS(k),
−
→
where 1 = [1, 1, · · · , 1]T ∈ Rn . As Assumption 1 holds,
−
→T n −
→ −
→ −
→
1 L = 0, and Pi (k) = 1 T P (k) = 1 T [Pave (k) 1 +
i=1
εη −1 (k)LS(k)] = PM (k), implying Pe (k) = 0.
Under algorithm (12), the closed-loop form of EESSs is
−
→
S(k + 1) = −η(k)Pave (k) 1 + (In − εL)S(k), (14)
where In ∈ Rn×n is the identity matrix. Define the
Lyapunov function (Olfati-Saber and Murray, 2004):
(15)
where L is positive semi-definite. Compute
∇V (k) = V (k + 1) − V (k)
 T
−
→
= −η(k)Pave (k) 1 + (In − εL)S(k)
  (16)
−
→
× L −η(k)Pave (k) 1 + (In − εL)S(k) − V (k)
= S T(k)LT (−2εIn + ε2 L)LS(k),

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−
→ Proof. (I) To verify that (6) and (7) are satisfied.
where L = LT and L 1 = 0 are used. Since ε is
sufficiently small, −2εIn + ε2 L is guaranteed negative The following three cases are taken into account.
definite. So, ∇V (k) ≤ 0. Based on Assumption 1 and
the negative definite property of −2εIn + ε2 L, one has (a) For the case of εLi S(k) ∈ [fmin (k), fmax (k)], the
−
→ algorithm (17) takes the form of
∇V (k) = 0 ⇔ LS(k) = 0 ⇔ S(k) ∈ span{ 1 }, thus
the largest invariant set in {S(k) ∈ R |∇V (k) = 0}
n
Pi (k) = Pave (k) + η −1 (k)εLi S(k).
−
→
is {S(k) ∈ span{ 1 }}. According to the discrete time As εLi S(k) ∈ [fmin (k), fmax (k)], it follows that
version of LaSalle invariance principle (Alberto et al., Pi (k) ≤ Pave (k) + η −1 (k)fmax (k)
2007), S(k) globally asymptotically convergent to {S(k) ∈ 
−
→ Pmax , if PM (k) > 0 (discharging),
span{ 1 }}, and the SoC balance errors are therefore =
0, if PM (k) < 0 (charging),
globally asymptotically vanished to zero.
Pi (k) ≥ Pave (k) + η −1 (k)fmin (k)

3.2 Generation to constrained power case 0, if PM (k) > 0 (discharging),
=
Pmin , if PM (k) < 0 (charging).
With power constraints (6) and (7), it is required to make Thismeans that
the following Assumption. 0 ≤ Pi (k) ≤ Pmax , if PM (k) > 0 (discharging),
Assumption 2. The number of EESSs is determined such Pmin ≤ Pi (k) ≤ 0, if PM (k) < 0 (charging).
that the nominal power is within the permissible power
range Pmin < Pave (k) < Pmax . (b) For the case of εLi S(k) > fmax (k), (17) becomes
Pi (k) = Pave (k) + η −1 (k)fmax (k)
Improve the dispatch scheme (12) as 
Pmax , if PM (k) > 0 (discharging),
Pi (k) = Pave (k) + η −1 (k)f [εLi S(k)], (17) =
0, if PM (k) < 0 (charging).
  
where Li S(k) = aij [Si (k) − Sj (k)] , Li is the ith
j∈Ni (c) For the case of εLi S(k) < fmin (k), (17) shows that
row of matrix L, and the bounded dynamic saturation Pi (k) = Pave (k) + η −1 (k)fmin (k)
function f (·) is given by 
 0, if PM (k) > 0 (discharging),
χ(k), if χ(k) ∈ [fmin (k), fmax (k)], =
Pmin , if PM (k) < 0 (charging).
f [χ(k)] = fmax (k), if χ(k) > fmax (k),
fmin (k), if χ(k) < fmin (k), The above three cases imply that (6) and (7) are fulfilled.
fmin (k) = PM (k) [−η(k)Pave (k)]
+ (II) To verify that the SoC balance errors and Pe (k) are
(18)
+ PM −
(k) [η(k)(Pmin − Pave (k))] , tending to zero.
−
→
fmax (k) = PM −
(k) [−η(k)Pave (k)] By (17), we have P (k) = Pave (k) 1 + η −1 (k)f (εLS(k)),
+ PM +
(k) [η(k)(Pmax − Pave (k))] . where f (εLS(k)) = [f (εL1 S(k)), · · · , f (εLn S(k))]T ∈ Rn .
Compute ∇V (k) = V (k + 1) − V (k) as
Remark 1. Under Assumption 2, the function f (·) in (18) T
has the following features: ∇V (k) = [S(k) − f (εLS(k))] L[S(k) − f (εLS(k))] − V (k)
 ≤ f T (·)(L − 2ε−1 In )f (·),
χ(k)f [χ(k)] ≥ f 2 [χ(k)] ≥ 0,
(19) where f (·) = f (εLS(k)), and the first inequality in (19)
f [χ(k)] = 0 ⇔ χ(k) = 0,
is utilized. As ε > 0 is sufficiently small, L − 2ε−1 In is
which are proved as follows. When PM (k) > 0, we have negative definite and ∇V (k) ≤ 0. Under Assumptions 1-2
Pave (k) > 0 and and ε > 0, Remark 1 shows that f (εLS(k)) = 0 ⇔ S(k) ∈
fmin (k) = −η(k)Pave (k) < 0, −
→
span{ 1 }. So, S(k) globally asymptotically converges to
fmax (k) = η(k)[Pmax − Pave (k)] > 0. −
→
{S(k) ∈ span{ 1 }} which is the largest invariant set in
When PM (k) < 0, we get Pave (k) < 0 and {S(k) ∈ R |∇V (k) = 0} (Alberto et al., 2007). This
n

implies that the SoC balance errors and Pe (k) globally

fmin (k) = η(k)[Pmin − Pave (k)] < 0,
asymptotically tend to zero.
fmax (k) = −η(k)Pave (k) > 0.
In conclusion, fmin (k) < 0 < fmax (k), so f [χ(k)] = 3.3 Generation to the case of constrained power and SoC
0 ⇔ χ(k) = 0. By (18), it follows
Considering both the power and the SoC constraints (6)-
χ(k)f [χ(k)] = (8), we modify (17) as
 2
 χ (k) = f 2 [χ(k)], if χ(k) ∈ [fmin (k), fmax (k)], 
 P̂i (k), if Ŝi (k + 1) ∈ [Smin , Smax ],
χ(k)fmax (k) > f 2 [χ(k)], if χ(k) > fmax (k),
 Pi (k) = η −1 (k)[Si (k) − Smax ], if Ŝi (k + 1) > Smax ,
χ(k)fmin (k) > f 2 [χ(k)], if χ(k) < fmin (k).  −1
η (k)[Si (k) − Smin ], if Ŝi (k + 1) < Smin ,
 (20)
Lemma 2. Under Assumptions 1-2 and ε > 0 is sufficiently where
small, the distributed dispatch scheme (17) satisfies the P̂i (k) = Pave (k) + η −1 (k)f [εLi S(k)],
constraints (6) and (7), and ensures the SoC balance errors (21)
and Pe (k) globally asymptotically convergent to zero. Ŝi (k + 1) = Si (k) − η(k)P̂i (k).

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Theorem 1. Suppose that Assumptions 1-2 hold and ε > 0
is sufficiently small, then for any initial SoCs satisfying
Si (0) ∈ [Smin , Smax ], the distributed algorithm (20) guar-
antees that the constraints (6)-(8) are satisfied, the SoC
balance errors of EESSs Si (k) − Sj (k) (i, j ∈ V) are
asymptotically decayed to zero, and the power tracking
error Pe (k) is minimized after Si (k) − Sj (k) → 0, i, j ∈ V.
Proof. (I) To prove (8).
The closed-loop system is
Si (k + 1) = Si (k) − η(k)Pi (k)
 (IV) To prove that Pe (k) is minimized after Si (k) −
 Ŝi (k + 1) ∈ [Smin , Smax ], if Ŝi (k + 1) ∈ [Smin , Smax ],
= Smax , if Ŝi (k + 1) > Smax ,
 After Si (k) − Sj (k) → 0 is achieved, denote Si (k) =
Smin , if Ŝi (k + 1) < Smin .
Therefore, Si (k + 1) ∈ [Smin , Smax ].
(II) To prove (6)-(7).
If Ŝi (k + 1) ∈ [Smin , Smax ], it follows from Lemma 2 that
Pi (k) = P̂i (k) satisfies the conditions (6)-(7). If Ŝi (k +
1) > Smax , then EESS i is in charging/stop mode, and
0 ≥ Pi (k) = η −1 (k)[Si (k) − Smax ]
= η −1 (k)[Ŝi (k + 1) − Smax ] + P̂i (k) > P̂i (k) ≥ Pmin ,
where P̂i (k) ≥ Pmin has been proven by the proof of
Lemma 2. If Ŝi (k+1) < Smax , then EESS i is in discharging
mode, and
0 ≤ Pi (k) = η −1 (k)[Si (k) − Smin ]
= η −1 (k)[Ŝi (k + 1) − Smin ] + P̂i (k) < P̂i (k) ≤ Pmax .
Consequently, the power constraints (6) and (7) are satis-
fied.
(III) To prove the convergence of SoC balance errors.
According to the proof of Lemma 2, we have
n  model parameters of EESSs are (Cai and Hu, 2016) Qi =
{aij [Ŝi (k + 1) − Ŝj (k + 1)]2 }
i=1 j∈Ni
(22)
= Ŝ T (k + 1)LŜ(k + 1)
≤ V (k) + f T (εLS(k))(L − 2ε−1 In )f (εLS(k)),
where Ŝ(k + 1) = [Ŝ1 (k + 1), · · · , Ŝn (k + 1)]T .
If Ŝi (k + 1) and Ŝj (k + 1) are both in [Smin , Smax ], then
[Si (k + 1) − Sj (k + 1)]2 = [Ŝi (k + 1) − Ŝj (k + 1)]2 .
If they do not belong to [Smin , Smax ], then
[Si (k + 1) − Sj (k + 1)]2 = 0 ≤ [Ŝi (k + 1) − Ŝj (k + 1)]2 ,
where Si (k + 1) = Sj (k + 1) = Smax or Smin due to the
fact that all the EESSs are in the same charging/stop
or discharging/stop mode. If one of them (assumed as
Ŝi (k + 1)) belongs to [Smin , Smax ] and the other one does
not, then
[Si (k + 1) − Sj (k + 1)]2 = [Smax − Ŝj (k + 1)]2
< [Ŝi (k + 1) − Ŝj (k + 1)]2 , (charging),
[Si (k + 1) − Sj (k + 1)]2 = [Smin − Ŝj (k + 1)]2
< [Ŝi (k + 1) − Ŝj (k + 1)]2 , (discharging).
Summarizing the above analysis yields:
[Si (k + 1) − Sj (k + 1)]2 ≤ [Ŝi (k + 1) − Ŝj (k + 1)]2 . (23)
233
By (22) and (23), it follows
n 
V (k + 1) = {aij [Si (k + 1) − Sj (k + 1)]2 }
i=1 j∈Ni
n 
≤ {aij [Ŝi (k + 1) − Ŝj (k + 1)]2 }
i=1 j∈Ni
≤ V (k) + f T (·)(L − 2ε−1 In )f (·),
which, together the proof of Lemma 2, shows that the SoC
balance errors are asymptotically vanished to zero.
Sj (k) → 0.
S ∗ (k), ∀i ∈ V, and all the EESSs have the same power

 Pave (k), if Ŝi (k + 1) ∈ [Smin , Smax ],
Pi (k) = η −1 (k)[S ∗ (k) − Smax ], if Ŝi (k + 1) > Smax ,
 −1
η (k)[S ∗ (k) − Smin ], if Ŝi (k + 1) < Smin .
For the case of Ŝi (k + 1) ∈ [Smin , Smax ], one gets Pe (k) =
0. For the case of Ŝi (k + 1) > Smax , only Pi (k) ∈
[η −1 (k)(S ∗ (k)−Smin ), 0] can ensure Pi (k) and Si (k+1) ful-
fill (6)-(8). Note that Pave (k) < η −1 (k)(S ∗ (k) − Smin ) and
n
nPave (k) = PM (k), so under (6)-(8), Pe (k) = | Pi (k) −
i=1
PM (k)| is minimized at Pi (k) = η −1 (k)(S ∗ (k) − Smin ).
Analogously, for the case of Ŝi (k + 1) < Smin ), Pe (k) is
minimized at Pi (k) = η −1 (k)[S ∗ (k) − Smin ]).
4. SIMULATION RESULTS
In this section, numerical simulations are implemented
to demonstrate the effectiveness of the third proposed
algorithm. Suppose that there are ten EESSs connected
by the communication graph depicted in Fig. 2. The
120Ah, Vi = 220V, ζdi = 0.92, ζci = 0.95, i = 1 ∼ 10. The
SoC range is [Smin , Smax ] = [0.1, 0.9], and the power range
is [Pmin , Pmax ] = [−5kW, 5kW]. Initial SoCs are chosen
as S(0) = 0.01 × [28, 31, 34, 37, 40, 44, 46, 49, 52, 55]T , and
ε = 0.2. The sampling interval is selected as T = 1 hour,
and the operation period is two days. In the two days, the
global supply-demand mismatch is periodic with period
one day, shown in Tab. I.
1 2 3 4 5
10 9 8 7 6
Fig. 2. Communication graph.
Carry out the third algorithm for two days. Fig. 3 shows
the SoC and power trajectories of every EESS. It can be
observed that the SoC variables are balanced to a common
dynamic value, and SoC and power variables satisfy the
constraints (6)-(8). Fig. 4 presents the power tracking error
Pe (k), implying that Pe (k) is convergent to zero.
5. CONCLUSION
In this paper, three energy dispatch algorithms are pro-
posed to determine the charging/discharging power refer-
2018 IFAC MICNON
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