Distributed Continuous-Time Strategy-Updating Rules for Noncooperative Games With Discrete-Time Communication
针对双积分器智能体网络中的连续时间非合作博弈，提出了基于离散时间通信的周期和事件触发两种策略更新规则，使所有智能体渐近达到纳什均衡，节省通信资源。
In this article, a class of continuous-time noncooperative games in networks of double-integrator agents is explored. The existing methods require that agents communicate with their neighbors in real time. In this article, we propose two discrete-time communication schemes based on the designed continuous-time strategy-updating rule for the efficient use of communication resources. First, the property of the designed continuous-time rule is analyzed to ensure that all agents’ strategies can reach the Nash equilibrium (NE). Then, we propose, respectively, periodic and event-triggered communication schemes for the discrete-time interactions among agents. The rule in the periodic case is implemented synchronously. The rule in the event-triggered case is executed asynchronously without Zeno behaviors. All agents in both cases can reach the NE asymptotically by interacting with neighbors at discrete times. Simulations are performed in networks of Cournot competition to illustrate the effectiveness of the proposed methods.