A finite-horizon two-person non-zero-sum differential game is considered. The dynamics of the game is linear. Each of the players has a quadratic functional on its own disposal, which should be minimized. The case where weight matrices in control costs of one player are singular in both functionals is studied. Hence, the game under the consideration is singular. A novel definition of the Nash equilibrium in this game (a Nash equilibrium sequence) is proposed. The game is solved by application of the regularization method. This method yields a new differential game, which is a regular Nash equilibrium game. Moreover, the new game is a partial cheap control game. An asymptotic analysis of this game is carried out. Based on this analysis, the Nash equilibrium sequence of the pairs of the players’ state-feedback controls in the singular game is constructed. The expressions for the optimal values of the functionals in the singular game are obtained. Illustrative examples are presented.
On the finite horizon Nash equilibrium solution in the differential game approach to formation control
