Distributed GNE Seeking Strategy for Second-Integrator Multiplayer Systems Over Directed Topologies

This article studies the generalized Nash equilibrium (GNE) seeking problem of second-integrator multiplayer systems. In particular, each player is endowed with an individual payoff function with respect to collective decision variables, and simultaneously, a coupling inequality constraint and a set constraint are imposed to each player. The players communicate with their local neighbors over a directed topology. To begin with, a distributed-observer-based seeking strategy is synthesized by leveraging a proper composite variable. It is first demonstrated using nonsmooth analysis that the established distributed observer enables each player to accurately estimate the decision variables of others in terms of a strongly connected topology condition. Upon this basis, all the decision variables are then shown to converge to the expected GNE asymptotically borrowing from convex theory. In addition, three extension results are also given under the built GNE seeking framework. First, under the postulation that the velocity information is unavailable, a velocity-free distributed GNE seeking strategy is synthesized for second-integrator systems by implementing a proper auxiliary dynamics. Second, we consider nonlinear Euler-Lagrange systems with unknown inertia parameters and synthesize an improved distributed GNE seeking strategy resorting to an adaptation technique. Third, we focus on integrator chain systems and synthesize a modified distributed GNE seeking strategy using a new composite variable based on a proper coordinate transformation. For three extension cases, we all show in detail the achievement of the GNE seeking objective. Finally, a practical example is simulated to confirm the built GNE seeking results.