This paper investigates the noncooperative game problems over weight-balanced digraphs with communication delays. Compared with existing noncooperative games, a class of noncooperative games that are more aligned with practical systems is discussed, where all agents have uncertain heterogeneous second-order nonlinear dynamics. Then, considering two different types of communication delays, respectively slowly-varying communication delays and fast-varying communication delays, the distributed algorithm is designed to seek the Nash equilibrium (NE).
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