On linear-quadratic Gaussian continuous-time Nash games

Two classes of linear-quadratic Gaussian continuous-time Nash games are considered. Their main characteristic is that the -fields with respect to which the control actions of the players have to be measurable at each instance of time are not affected by the past controls of the players. We show that, if a solution exists, then there exists a solution linear in the information, and also show how to construct all the solutions. Several conditions guaranteeing the existence of a unique solution are also given.This work was supported in part by the United States Air Force, Office of Scientific Research, under Grants Nos. AFOSR-80-0171 and AFOSR-82-0174.     

On the existence of Nash strategies and solutions to coupled riccati equations in linear-quadratic games

The existence of linear Nash strategies for the linear-quadratic game is considered. The solvability of the coupled Riccati matrix equations and the stability of the closed-loop matrix are investigated by using Brower's fixed-point theorem. The conditions derived state that the linear closed-loop Nash strategies exist, if the open loop matrixA has a sufficient degree of stability which is determined in terms of the norms of the weighting matrices. WhenA is not necessarily stable, sufficient conditions for existence are given in terms of the solutions of auxiliary problems using the same procedure.This work was supported in part by the Joint Services Electronics Program (US Army, US Navy, and US Air Force) under Contract No. DAAG-29-78-C-0016, in part by the National Science Foundation under Grant No. ENG-74-20091, and in part by the Department of Energy, Electric Energy Systems Division, under Contract No. US-ERDA-EX-76-C-01-2088.     

Recursive solution of linear-quadratic Nash games for weakly interconnected systems

A recursive method is developed for the solution of coupled algebraic Riccati equations and corresponding linear Nash strategies of weakly interconnected systems. It is shown that the given algorithm converges to the exact solution with the rate of convergence ofO(²), where is a small coupling parameter. In addition, only low-order systems are involved in algebrdic computations; the amount of computations required does not grow per iteration and no analyticity assumption is imposed on the system coefficients.This work was supported by Rutgers University Research Council under Grant No. 2-02188.     

Stochastic Discrete-Time Nash Games with Constrained State Estimators

In this paper, we consider stochastic linear-quadratic discrete-time Nash games in which two players have access only to noise-corrupted output measurements. We assume that each player is constrained to use a linear Kalman filter-like state estimator to implement his optimal strategies. Two information structures available to the players in their state estimators are investigated. The first has access to one-step delayed output and a one-step delayed control input of the player. The second has access to the current output and a one-step delayed control input of the player. In both cases, statistics of the process and statistics of the measurements of each player are known to both players. A simple example of a two-zone energy trading system is considered to illustrate the developed Nash strategies. In this example, the Nash strategies are calculated for the two cases of unlimited and limited transmission capacity constraints.     

Sufficiency and game structure in Nash open-loop differential games

This note deals with the following problem inN-player Nash open-loop differential games: Which conditions on the Hamiltonians will simplify the verification of the sufficient conditions? In the class of games with Hamiltonians linear in the state, and where the state is separated from the control of playeri in the Hamiltonian of this player, the first-order and second-order conditions for an extremum of the Hamiltonian of playeri also constitute a set of sufficient conditions.     

Stackelberg strategies in linear-quadratic stochastic differential games

This paper obtains the Stackelberg solution to a class of two-player stochastic differential games described by linear state dynamics and quadratic objective functionals. The information structure of the problem is such that the players make independent noisy measurements of the initial state and are permitted to utilize only this information in constructing their controls. Furthermore, by the very nature of the Stackelberg solution concept, one of the players is assumed to know, in advance, the strategy of the other player (the leader). For this class of problems, we first establish existence and uniqueness of the Stackelberg solution and then relate the derivation of the leader's Stackelberg solution to the optimal solution of a nonstandard stochastic control problem. This stochastic control problem is solved in a more general context, and its solution is utilized in constructing the Stackelberg strategy of the leader. For the special case Gaussian statistics, it is shown that this optimal strategy is affine in observation of the leader. The paper also discusses numerical aspects of the Stackelberg solution under general statistics and develops algorithms which converge to the unique Stackelberg solution.This work was performed while the second author was on sabbatical leave at the Department of Applied Mathematics, Twente University of Technology, Enschede, Holland.     

State transformations and the derivation of Nash closed-loop equilibria for non-zero-sum differential games

In this paper the usefulness of state transformations in differential games is demonstrated. It is shown that different (admissible) state transformations give rise to different closed-loop Nash equilibrium candidates, which may all be found by solving systems of ordinary differential equations. A linear-quadratic duopoly differential game is solved to illustrate the results.     

A class of differential games for which the closed-loop and open-loop Nash equilibria coincide

It is well known that, in general, Nash equilibria in open-loop strategies do not coincide with those in closed-loop strategies. This note identifies a class of differential games in which the Nash equilibrium in closed-loop strategies is degenerate, in the sense that it depends on time only. Consequently, the closed-loop equilibrium is also an equilibrium in open-loop strategies.The helpful comments of Professors Y. C. Ho, G. Leitmann, H. Y. Wan, Jr., and an anonymous referee are gratefully acknowledged.     

Determining all Nash equilibria in a (bi-linear) inspection game

This paper addresses a “game” between an inspection agency and multiple inspectees that are subject to random inspections by that agency. We provide explicit (easily computable) expressions for all possible Nash equilibria and verify that none is left out. In particular, our results characterize situations when there exists a unique Nash equilibrium. We also explore special features of the Nash equilibria and the solution of the problem the inspection agency faces in a non-strategic environment.     

On the uniqueness of Nash strategies for a class of analytic differential games

The uniqueness of Nash equilibria is shown for the case where the data of the problem are analytic functions and the admissible strategy spaces are restricted to analytic functions of the current state and time.This work was supported in part by the Joint Services Electronics Program (US Army, US Navy, and US Air Force) under Contract No. DAAB-07-72-C-0259, in part by the National Science Foundation under Grant No. ENG-74-20091, and in part by the Department of Energy, Electric Energy Systems Division under Contract No. US ERDA EX-76-C-01-2088.     

Sufficient conditions for Nash equilibria inN-person games over reflexive Banach spaces

Sufficient conditions are obtained for the existence of Nash equilibrium points inN-person games when the strategy sets are closed, convex subsets of reflexive Banach spaces. These conditions require that each player's cost functional is convex in that player's strategy, weakly continuous in the strategies of the other players, weakly lower semicontinuous in all strategies, and furthermore satisfies a coercivity condition if any of the strategy sets is unbounded. The result is applied to a class of linear-quadratic differential games with no information, to prove that equilibrium points exist when the duration of these games is sufficiently small.This work was supported by a Commonwealth of Australia, Postgraduate Research Award.     

Pure-strategy Nash equilibria in an advertising game with interference

Two manufacturers produce substitutable goods for a homogeneous market. The advertising efforts of the two manufacturers determine the demand for the goods and interfere negatively with each other. The demand of each good is a piecewise linear function of the product goodwill, and the latter is a linear function of advertising efforts. In a game with two competing profit-maximizing manufacturers who have access to a set of several advertising media, the pure-strategy Nash equilibria are characterized and their existence is shown.     

Directed graphical structure,Nash equilibrium,and potential games

This paper considers the directed graphical structure of a game, called influence structure, where a directed edge from player $i$ to player $j$ indicates that player $i$ may be able to affect $j$’s payoff via his unilateral change of strategies. We give a necessary and sufficient condition for the existence of pure-strategy Nash equilibrium of games having a directed graph in terms of the structure of that graph. We also discuss the relationship between the structure of graphs and potential games.     

On the Selection of One Feedback Nash Equilibrium in Discounted Linear-Quadratic Games

We study a selection method for a Nash feedback equilibrium of a one-dimensional linear-quadratic nonzero-sum game over an infinite horizon. By introducing a change in the time variable, one obtains an associated game over a finite horizon T > 0 and with free terminal state. This associated game admits a unique solution which converges to a particular Nash feedback equilibrium of the original problem as the horizon T goes to infinity.     

On Existence of Nash Equilibria of Games with Constraints on Multistrategies

In this paper, sufficient conditions are given, which are less restrictivethan those required by the Arrow–Debreu–Nash theorem, on theexistence of a Nash equilibrium of an n-player game {₁, . . . , Y_n,f₁, . . . , f_n} in normal form with a nonempty closedconvex constraint C on the set Y=i Y_i of multistrategies. Theith player has to minimize the function fi with respect to the ithvariable. We consider two cases.In the first case, Y is a real Hilbert space and the loss function class isquadratic. In this case, the existence of a Nash equilibrium is guaranteedas a simple consequence of the projection theorem for Hilbert spaces. In thesecond case, Y is a Euclidean space, the loss functions are continuous, andf_i is convex with respect to the ith variable. In this case, the techniqueis quite particular, because the constrained game is approximated with asequence of free games, each with a Nash equilibrium in an appropriatecompact space X. Since X is compact, there exists a subsequence of theseNash equilibrium points which is convergent in the norm. If thelimit point is in C and if the order of convergence is greater than one,then this is a Nash equilibrium of the constrained game.     

Informational uniqueness of closed-loop Nash equilibria for a class of nonstandard dynamic games

This paper discusses an extension of the currently available theory of noncooperative dynamic games to game models whose state equations are of order higher than one. In a discrete-time framework, it first elucidates the reasons why the theory developed for first-order systems is not applicable to higher-order systems, and then presents a general procedure to obtain an informationally unique Nash equilibrium solution in the presence of random disturbances. A numerical example solved in the paper illustrates the general approach.Dedicated to G. LeitmannResearch that led to this paper was supported in part by the Office of Naval Research under Contract No N00014-82-K-0469 and in part by the U.S. Air Force under Grant No. AFOSR-84-0054.     

Nash refinement of equilibria

A method for choosing equilibria in strategic form games is proposed and axiomatically characterized. The method as well as the axioms are inspired by the Nash bargaining theory. The method can be applied to existing refinements of Nash equilibrium (e.g., perfect equilibrium) and also to other equilibrium concepts, like correlated equilibrium.The authors thank the reviewers for their comments, which led to an improvement of the paper.     

An Approach to Fuzzy Noncooperative Nash Games

Systems that involve more than one decision maker are often optimized using the theory of games. In the traditional game theory, it is assumed that each player has a well-defined quantitative utility function over a set of the player decision space. Each player attempts to maximize/minimize his/her own expected utility and each is assumed to know the extensive game in full. At present, it cannot be claimed that the first assumption has been shown to be true in a wide variety of situations involving complex problems in economics, engineering, social and political sciences due to the difficulty inherent in defining an adequate utility function for each player in these types of problems. On the other hand, in many of such complex problems, each player has a heuristic knowledge of the desires of the other players and a heuristic knowledge of the control choices that they will make in order to meet their ends.In this paper, we utilize fuzzy set theory in order to incorporate the players' heuristic knowledge of decision making into the framework of conventional game theory or ordinal game theory. We define a new approach to N-person static fuzzy noncooperative games and develop a solution concept such as Nash for these types of games. We show that this general formulation of fuzzy noncooperative games can be applied to solve multidecision-making problems where no objective function is specified. The computational procedure is illustrated via application to a multiagent optimization problem dealing with the design and operation of future military operations.     

Sufficient conditions for Nash bargaining in differential games

Sufficient conditions for Nash bargaining in differential games are given. These conditions are compared with the sufficient conditions given by Liu (Ref. 1).     

Closed-loop Stackelberg solution to a multistage linear-quadratic game

A new solution of a two-person, nonzero-sum Stackelberg game, with linear dynamics, quadratic performance criteion, and closed-loop information available to both players, is presented. This solution is applicable to all problems where the leader is able to influence the objective function of the follower, and this function is strictly convex with respect to the control variable handled by the follower. The resulting equilibrium strategies adapt to the possible nonoptimal behavior of players at some stages of the game. The strategy of the leader has a simple interpretation of a threat formulated by the leader toward the follower and, if necessary, carried out one stage after the follower has played inconsistently with the leader's wishes.