Safe Distributed Generalized Nash Equilibrium Seeking via Control Barrier Functions

Abstract

In this paper, we consider generalized Nash equilibrium (GNE) seeking in non-cooperative games with coupled constraint sets. Specifically, we aim to enforce safety for distributed GNE seeking, whereby the safety specifications are encoded in the coupled constraint set. To achieve this, we introduce the control barrier function (CBF) in the design of the GNE seeking dynamics. We design the dynamics for both full- and partial-information setting, where each player has knowledge of the decision information of all other players or only neighboring players, respectively. We justify the proposed dynamics by showing that the coupled constraint set is forward invariant, the equilibrium of the dynamics coincides with the exact GNE of the game, and the dynamics is asymptotically stable. Furthermore, we extend the approach to games where the agents are multi-integrators. Numerical simulations are provided to verify our results.