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Volume 9 Issue 8
Aug.  2022

IEEE/CAA Journal of Automatica Sinica

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M. Liu, X. Y. Zhang, M. S. Shang, and L. Jin, “Gradient-based differential kWTA network with application to competitive coordination of multiple robots,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 8, pp. 1452–1463, Aug. 2022. doi: 10.1109/JAS.2022.105731
Citation: M. Liu, X. Y. Zhang, M. S. Shang, and L. Jin, “Gradient-based differential kWTA network with application to competitive coordination of multiple robots,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 8, pp. 1452–1463, Aug. 2022. doi: 10.1109/JAS.2022.105731

Gradient-Based Differential kWTA Network With Application to Competitive Coordination of Multiple Robots

doi: 10.1109/JAS.2022.105731
Funds:  This work was supported in part by the National Natural Science Foundation of China (62176109), the Natural Science Foundation of Gansu Province (21JR7RA531), the Tibetan Information Processing and Machine Translation Key Laboratory of Qinghai Province (2021-Z-003), the CAS “Light of West China” Program, the Natural Science Foundation of Chongqing (China) (cstc2020jcyjzdxmX0028), the Chongqing Entrepreneurship and Innovation Support Program for Overseas Returnees (CX2021100), the Supercomputing Center of Lanzhou University, and the Science and Technology Project of Chengguan District of Lanzhou (2021JSCX0014), and the Education Department of Gansu Province: Excellent Graduate Student “Innovation Star” Project (2021CXZX-122)
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  • Aiming at the k-winners-take-all (kWTA) operation, this paper proposes a gradient-based differential kWTA (GD-kWTA) network. After obtaining the network, theorems and related proofs are provided to guarantee the exponential convergence and noise resistance of the proposed GD-kWTA network. Then, numerical simulations are conducted to substantiate the preferable performance of the proposed network as compared with the traditional ones. Finally, the GD-kWTA network, backed with a consensus filter, is utilized as a robust control scheme for modeling the competition behavior in the multi-robot coordination, thereby further demonstrating its effectiveness and feasibility.


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    • A novel GD-kWTA network is designed, which is equipped with improved accuracy and enhanced robustness in tackling kWTA operations
    • Theorems on the convergence and robustness of the proposed network and numerical simulations in cases with or without noises are presented
    • Aided with the constructed GD-kWTA network for describing the competitive behavior, an application on the multirobot system for conducting the tracking task is provided


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