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distributed coordination control of multi-agent systems under intermittent sampling and communication: a comprehensive survey

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Science China(Information Sciences) 2025年第5期68卷 289-331页

作者： Xiaohua GE Qing-Long HAN Xian-Ming ZHANG Derui DING Boda NING School of Engineering Swinburne University of Technology Department of Control Science and Engineering University of Shanghai for Science and Technology Department of Electrical and Electronic Engineering Auckland University of Technology

Sampling and communication are both crucial for coordination in multi-agent systems(MASs), with sampling capturing raw data from the environment for control decision making, and communication ensuring the data is shared effectively for synchronized and informed control decisions across agents. However, practical MASs often operate in environments where continuous and synchronous data samplings and exchanges are impractical, necessitating strategies that can handle intermittent sampling and communication constraints. This paper provides a comprehensive survey of recent advances in distributed coordination control of MASs under intermittent sampling and communication, focusing on both foundational principles and state-of-the-art techniques. After introducing fundamentals, such as communication topologies,agent dynamics, control laws, and typical coordination objectives, the distinctions between sampling and communication are elaborated, exploring deterministic versus random, synchronous versus asynchronous, and instantaneous versus sequential scenarios. A detailed review of emerging trends and techniques is then presented, covering time-triggered, event-triggered,communication-protocol-based, and denial-of-service-resilient coordination control. These techniques are analyzed across various attack models, including those based on data loss, sampled data, time constraints, and topology switching. By synthesizing these developments, this survey aims to equip researchers and practitioners with a clearer understanding of current challenges and methodologies, concluding with insights into promising future directions.

关键词： multi-agent systems distributed coordination control sampled-data control event-triggered control resilient control denial-of-service attacks communication protocols event-triggered mechanisms

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Cyber-physical coupled modelling for distributed coordination control of a new distribution system

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2025年 168卷

作者： Liu, Wei Wang, Yufei Gu, Wei Chen, Xi Zou, Dehu Yu, Xuechang Qian, Zhihao Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Jiangsu Peoples R China Southeast Univ Sch Elect Engn Nanjing 210096 Jiangsu Peoples R China

The peer-to-peer neighbour information exchange of the multi-agent system (MAS) and the update of their states may cause communication delays and even control errors. Hence, it is necessary to analyze distributed coordination control (DCC) issues influenced by communication conditions. To address these problems, this study proposes a cyber-physical coupled modelling (CPCM) method for MAS-based new distribution system (NDS). Firstly, the proposed method establishes a unified adjacency matrix model that covers the coupled power system model, communication system model and agent model. It also utilizes MAS-based DCC for processing information of primary and secondary control agents. Then, communication delays in the coupling process of each layer are calculated through hybrid computation, and the impacts of communication delay, congestion, and errors on DCC are analyzed. Finally, a simulation model is built in MATLAB/Simulink to demonstrate the effectiveness of the proposed CPCM and DCC methods.

关键词： distributed coordination control New distribution system Cyber-physical coupled modelling Unified adjacency matrix model Communication delay

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distributed coordination control for suppressing circulating current in parallel inverters of islanded microgrid

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IET GENERATION TRANSMISSION & DISTRIBUTION 2019年第7期13卷 968-975页

作者： Wu, Ying Guerrero, Josep M. Wu, Yanpeng Xian Shiyou Univ Sch Comp Sci Dianzi Rd 18 Xian Shaanxi Peoples R China Aalborg Univ Dept Energy Technol DK-9220 Aalborg Denmark Xian Univ Architecture & Technol Sch Informat & Control Engn Yanta Rd 13 Xian Shaanxi Peoples R China

This study proposes a distributed hierarchical coordination control paradigm for parallel inverters, which not only enhances the flexibility of plug and play architecture but also strengthens the accuracy of current sharing with low sensitivity to the different line impedances and with fast response to the transient current change in islanded microgrid. Two kinds of distributed coordinated controller are designed to remove the voltage and frequency deviation from primary control. One is proportional-integral-derivative-based control, which detects the error between the segmented reference current and the actual measured current of the local inverter to calculate the compensating control input of the primary controller. The other is consensus-based control, which uses distributed control actions to spread local information among neighbouring distributed units. To improve the robustness of consensus algorithm, the authors take a relative value instead of absolute value from the primary control as the consensus variable to achieve accurate current sharing among different nominal power rating inverters. Then, a detailed small-signal state-space model is developed with the proposed secondary cooperated controller to achieve the stability analysis and parameters design purpose. Finally, an islanded MG test system is built in MATLAB/Simulink and control performances of two strategies are verified and compared.

关键词： distributed power generation distributed control voltage control power distribution control power grids compensation control system synthesis stability power generation control invertors power distribution faults control actions neighbouring distributed generation units current tracking error primary control accurate current sharing different nominal power rating inverters secondary cooperated controller control strategies islanded MG test system control performances distributed coordination control parallel inverters distributed hierarchical coordination control paradigm different line impedances transient current change islanded microgrid distributed coordinated controller different communication strategies primary droop control proportional-integral-derivative-based control segmented reference current actual measured output current local inverter compensating control input primary droop controller consensus-based control

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distributed coordination control of traffic network flow using adaptive genetic algorithm based on cloud computing

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JOURNAL OF NETWORK AND COMPUTER APPLICATIONS 2018年 119卷 110-120页

作者： Zhang, Yongnan Zhou, Yonghua Beijing Jiaotong Univ Sch Elect & Informat Engn Beijing Peoples R China

Adaptive traffic signal control can automatically adjust signal cycles, offsets and green ratios with the fluctuations of traffic flow to reduce the delay of vehicle fleets. At present, cloud computing has provided a technically feasible realization measure for the real-time optimization processing of adaptive traffic signal control with traffic big data. This paper proposes a by-level optimization strategy of signal cycles, offsets and green ratios on the cloud computing platform. The optimization of cycles and offsets among road intersections coordinates traffic flow on road links, called coordination control. The optimization of green ratios at each intersection further controls traffic flow on each road link, called distributed control. The coarse-grained parallel adaptive genetic algorithm (CPAGA) is developed for the optimization of distributed coordination control. On the cloud computing platform, the common data of road network and traffic flow is located in the bottom layer and transparently shared to related computing nodes. The CPAGAs at computing nodes are deployed to perform coordinated distributed optimization of adaptive traffic signal control. A migration strategy is developed for the parallel genetic algorithm where a portion of worse chromosomes at one computing node is replaced by better chromosomes at another node with a replace probability. The distributed coordination control procedures are designed with computing nodes being dynamically deployed at different optimization phases. The simulation experiments with regard to a realistic traffic network are carried out on the cloud computing platform. The numerical results demonstrate that the CPAGA can avoid falling into a local optimum and has fast solution efficiency. The proposed distributed coordination control of traffic signals is superior to the commonly used timing control at reducing traffic delay.

关键词： Traffic network signal control distributed coordination control Parallel adaptive genetic algorithm Cloud computing

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distributed coordination control of hybrid energy resources for power sharing in coupled hybrid DC/AC microgrid using paralleled IFCs/ILCs

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IET SMART GRID 2019年第1期2卷 89-105页

作者： Agrawal, Alok Gupta, Rajesh Motilal Nehru Natl Inst Technol Allahabad Elect Engn Dept Allahabad 211004 Uttar Pradesh India

This study proposes flexible controllers for the interlinking converter (ILC) and interfacing converters (IFCs) used in coupled hybrid AC/DC microgrids (HMGs). Proposed controllers are specifically designed for the multiple stacked bidirectional DC-AC ILCs/IFCs based microgrid outlays, to omit the droop power flow and system stability issues. The ILC and IFC grid supportive converter controllers focus on the wide-spread AC/DC bus parameters control for both DC and AC bus voltage regulation and superfluous power sharing while operating in the grid forming and feeding modes. Proposed controllers minimise the need for the controller parameter tuning as opposed to the conventional controllers used in zonal HMG systems. This makes the system stable for a much wider operating conditions as opposed to the widely used higher-order PLL integrated PQ and dq0 control algorithms. The proposed HMG also integrates the centralised battery energy stack through bidirectional dual active bridge DC-DC converter for achieving the high-power transfer efficiency and omitting the isolation issues between medium-voltage and low-voltage DC buses. The HMG system performance is evaluated using the simulation studies for various strategical operational modes. Further, the proposed controllers have also been tested individually on experimental platform.

关键词： distributed power generation load flow power distribution control bridge circuits voltage control DC-AC power convertors power grids power convertors power generation control DC-DC power convertors battery powered vehicles AC-DC power convertors HMG system performance distributed coordination control hybrid energy resources power sharing coupled hybrid DC AC microgrid paralleled IFCs ILCs flexible controllers ILC interfacing converters coupled hybrid AC DC microgrids multiple stacked bidirectional DC-AC ILCs IFCs microgrid outlays droop power flow wide-spread AC DC bus parameters control superfluous power controller parameter tuning conventional controllers zonal HMG systems wider operating conditions higher-order PLL integrated PQ dq 0 control algorithms centralised battery energy stack bidirectional dual active bridge DC-DC converter high-power transfer efficiency low-voltage DC buses

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distributed coordination control of electric vehicle chassis system based on game theory and ATC

Distributed coordination control of electric vehicle chassis...

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Chinese Automation Congress (CAC)

作者： Li, Zonghao Kong, Ru Zhang, Niaona Bao, Xuanxuan Changchun Univ Technol Elect & Elect Engn Inst Changchun Peoples R China

ISBN: (纸本)9781728140940

As the most critical part of electric vehicle, electric vehicle chassis is complex and huge, and the traditional centralized optimization methods are difficult to improve its performance. In recent years, the hot research on distributed optimization has broken the limitation of the traditional optimization methods by solving complex optimization problems through the independent decision-making of distributed individuals. Based on the research results of scholars, this paper proposes a coordinated control method of game and analytic Target Cascading (ATC) and optimizes the performance of automobile chassis, then carries out simulation analysis in Carsim-Simulink to verify the effectiveness of the proposed method.

关键词： distributed coordination control game theory ATC electric vehicle chassis

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distributed coordination control of Multiple VPPs in an Active Distribution Network

Distributed Coordination Control of Multiple VPPs in an Acti...

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Chinese Automation Congress (CAC)

作者： Xu, Yongming Cheng, Zhenlong Hu, Sheng Dai, Yuanan Bi, Jianglin Shen, Yun Gaoi, Liqing Zhang, Zhaoxuan State Grid Zhejiang Jiashan Power Supply Co Ltd Jiashan Peoples R China Nanjing QingRan Energy Technol Co Ltd Nanjing Peoples R China

ISBN: (纸本)9781728140940

This study proposes a two-layer distributed coordination control method that controls multiple VPP (VPPs) in an active distribution network (ADN). The proposed two-layer control method reduces the dimensions and complexity of controlling an ADN. The first layer is responsible for controlling the total output power of multiple VPPs, maintaining the power balance between supply and demand of the whole system. The secondary layer is responsible for controlling the output power of each agent in the VPP to improve the economic benefits of the system In this control method, each agent obtains global information by performing information interaction with neighboring agents, so does not require a central processing agent. The validity and adaptability of the method are verified by a typical simulation example.

关键词： VPP distributed coordination control marginal cost hierarchical control

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Dynamic Event-Triggered distributed coordination control and its Applications: A Survey of Trends and Techniques

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2020年第9期50卷 3112-3125页

作者： Ge, Xiaohua Han, Qing-Long Ding, Lei Wang, Yu-Long Zhang, Xian-Ming Swinburne Univ Technol Sch Software & Elect Engn Melbourne Vic 3122 Australia Nanjing Univ Posts & Telecommun Inst Adv Technol Nanjing 210023 Peoples R China Shanghai Univ Shanghai Key Lab Power Stn Automat Technol Shanghai 200444 Peoples R China Shanghai Univ Sch Mechatron Engn & Automat Shanghai 200444 Peoples R China

distributed coordination control is the current trend in networked systems and finds prosperous applications across a variety of fields, such as smart grids and intelligent transportation systems. One fundamental issue in coordinating and controlling a large group of distributed and networked agents is the influence of intermittent interagent interactions caused by constrained communication resources. Event-triggered communication scheduling stands out as a promising enabler to strike a balance between the desired control performance and the satisfactory resource efficiency. What distinguishes dynamic event-triggered scheduling from traditional static event-triggered scheduling is that the triggering mechanism can be dynamically adjusted over time in accordance with both available system information and additional dynamic variables. This article provides an up-to-date overview of dynamic event-triggered distributed coordination control. The motivation of dynamic event-triggered scheduling is first introduced in the context of distributed coordination control. Then some techniques of dynamic event-triggered distributed coordination control are discussed in detail. Implementation and design issues are well addressed. Furthermore, this article exemplifies two applications of dynamic event-triggered distributed coordination control in the fields of microgrids and automated vehicles. Several challenges are suggested to direct the future research.

关键词： Vehicle dynamics Dynamic scheduling Communication networks Protocols Smart grids Monitoring Market research Automated vehicles distributed coordination control distributed secondary control dynamic event-triggered mechanism microgrids platooning vehicular ad hoc networks (VANETs)

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distributed coordination control strategy for multiple residential solar PV systems in distribution networks

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2020年第0期117卷 105660-000页

作者： Cheng, Zhiping Li, Zhongwen Liang, Jing Si, Jikai Dong, Lianghui Gao, Jinfeng Zhengzhou Univ Sch Elect Engn Zhengzhou 450001 Peoples R China

distributed rooftop PV generator systems have been increasing significantly in distribution networks. However, due to the intermittent nature of the PV power generation, it is challenging to handle the fast voltage variation of the distribution system through dispatching traditional low response speed devices such as load tap changers and capacitor banks. In this paper, a distributed hierarchical control strategy is proposed to deal with the voltage fluctuation issues through real-time regulating the injection or consumption reactive power of the fast response PV inverters. The proposed control strategy includes a primary droop control level and an agent-based distributed secondary control level. The droop-based primary level control can quickly regulate the voltage of PV inverter with locally measured information to overcome the fast voltage variation. The agent-based secondary level control can guarantee the average bus voltage restoration and proportionally reactive power sharing among the PV inverters through distributed communication between neighboring agents. With the proposed control strategy, both the average bus voltage restoration and proportionally reactive power sharing can be satisfied, which improves the stability of the distribution system. Furthermore, the proposed strategy is a fully distributed method that can distribute the computational and communication tasks among the local controllers through working in parallel, which is more flexible, scalable, and insusceptible to single-point failure.

关键词： Solar PV systems distributed coordination control Distribution networks Reactive power dispatch Voltage variation Multi-agent system

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Multi-agent distributed coordination control: Developments and directions via graph viewpoint

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NEUROCOMPUTING 2016年 199卷 204-218页

作者： Wang, Xiangke Zeng, Zhiwen Cong, Yirui Natl Univ Def Technol Coll Mechatron Engn & Automat Changsha 410073 Hunan Peoples R China Australian Natl Univ Res Sch Engn GPO Box 4 Canberra ACT 2601 Australia

In this paper, the recent developments of distributed coordination control problems are summarized in a graph-theory-based framework. distributed coordination has attracted tremendous attention in control and robot communities because of its potential applications in the past decade. The graph is used to describe the interconnections among agents, and different distributed coordination control problems, such as consensus, formation control, rendezvous, alignment, swarming, flocking, containment control and circumnavigation control, are adopted to this description by considering different cooperative objects. Therefore it is natural to study the distributed coordination control problems via graph theory, and the graph-theory-based results on consensus, formation control, and some closely related issues, i.e., rendezvous/alignment, swarming/flocking, containment control and circumnavigation control, are reviewed, and provide a cohesive overview in the coordination control problems, in system modeling, control law designs and analysis, and structure transformation. Finally, towards the practical applications, some potential directions possibly deserving investigation in distributed coordination control are discussed. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Multi-agent system distributed coordination control Graph theory Consensus Formation control

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