Decentralized Control for Urban Drainage Systems Using Replicator Dynamics

Abstract

This paper proposes a decentralized control scheme that mitigates floods in urban drainage systems (UDSs). First, we develop a partitioning algorithm of the UDS relying on a graph model of the system. Once this is done, we design a local controller for each partition based on the replicator dynamics model (a set of differential equations that describes the evolution of a population of players involved in a strategic game). The decentralized nature of the proposed strategy makes it suitable for applying it in large-scale systems. Stability of the closed-loop system is proved by using Lyapunov theory. Furthermore, we simulate the performance of the decentralized control scheme in two case studies. One of them models part of the Bogotá (Colombia) stormwater UDS. Finally, we compare the proposed technique with two widely used methods for-real time control of UDSs, i.e., constrained linear quadratic regulator (LQR) and model predictive control (MPC).

Keywords

• Urban drainage systems
• population dynamics
• decentralized control
• replicator dynamics
• resource allocation