Distributed Nash equilibrium seeking design for energy consumption games of HVAC systems over digraphs

The energy consumption problem of heating, ventilation, and air conditioning systems over general directed graphs is investigated. The considered problem is firstly reformulated as a Nash equilibrium seeking problem, and a distributed consensus-based algorithm is then proposed to solve it. To address the challenge arising from general directed graphs, a distributed estimation algorithm is embedded such that the explicit dependence on the left eigenvector associated with the eigenvalue zero of the Laplacian matrix can be avoided. Then, the exponential convergence of the proposed distributed Nash equilibrium seeking algorithm is established under a standing assumption. A numerical example is finally provided to verify the effectiveness of the proposed algorithm.