Tube-based MPC of hierarchical distribution network for voltage regulation considering uncertainties of renewable energy

•A novel model for low-voltage distribution areas based on genetic algorithm is developed, which simplifies the complexity of online computation and suppresses the inner voltage deviations in a safe section.•The coordination of PVs and ESs at different voltage levels is promoted to improve the voltage regulation while short of the reactive power capacity of PVs.•A tube-based MPC controller is proposed for voltage fluctuation under uncertainties introduced by power disturbance and a genetic-algorithm-based equivalent model of low-voltage areas, with which a distribution network can work in common conditions under variable operations of PVs.