In a dc microgrid, a conventional solution for the primary control is droop control, which is achieved by imposing a virtual impedance on each converter. Its main drawbacks are the current sharing inaccuracy and the voltage deviation. To address these problems, we propose a robust distributed cooperative controller, which is an alternative to the droop mechanism. The controller is distributed in the sense that each one exchanges information with its neighboring converters, and hence no central controller is required. It is robust in the sense that parameters of power sources or load are not directly used to determine the controller parameters. A rigorous mathematical analysis is presented to guarantee the stability of the proposed controller, and simulation results are included to validate it.

中文翻译：

---

具有异构源的直流微电网的鲁棒分布式协同控制器

在直流微电网中，初级控制的传统解决方案是下垂控制，这是通过在每个转换器上施加虚拟阻抗来实现的。其主要缺点是均流不准确和电压偏差。为了解决这些问题，我们提出了一种鲁棒的分布式协作控制器，它是下垂机制的替代方案。控制器是分布式的，每个控制器都与其相邻的转换器交换信息，因此不需要中央控制器。从电源或负载的参数不直接用于确定控制器参数的意义上来说，它是稳健的。提出了严格的数学分析，以保证所提出的控制器的稳定性，并包括仿真结果来验证它。