A distributed nonlinear controller is presented to achieve both accurate current-sharing and voltage regulation simultaneously in dc microgrids considering different line impedances’ effects among converters. Then, an improved event-triggered principle for the controller is introduced through combining the state-dependent tolerance with a nonnegative offset. In order to design the event-triggered principle and guarantee the global stability, a generalized dc microgrid model is proposed and proven to be positive definite, based on which Lyapunov-based approach is applied. Furthermore, considering the effects from constant power loads, the damping performance of proposed controller is further improved and compared with the traditional V-I droop controller. The proposed event-triggered-based communication strategy can considerably reduce the communication traffic and significantly relax the requirement for precise real-time information transmission, without sacrificing system performance. Experimental results obtained from a dc microgrid setup show the robustness of the new proposal under normal, communication failure, communication delay and plug-and-play operation conditions. Finally, communication traffic under different communication strategies are compared, showing a drastic traffic reduction when using the proposed approach.
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