Gradient-Based Differential kWTA Network With Application to Competitive Coordination of Multiple Robots
Mei Liu; Xiaoyan Zhang; Mingsheng Shang; Long Jin
刊名IEEE/CAA Journal of Automatica Sinica
2022
卷号9期号:8页码:1452-1463
关键词Consensus filter k-winners-take-all (kWTA) multi-robot coordination noise resistance
ISSN号2329-9266
DOI10.1109/JAS.2022.105731
英文摘要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.
内容类型期刊论文
源URL[http://ir.ia.ac.cn/handle/173211/49653]  
专题自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式
GB/T 7714
Mei Liu,Xiaoyan Zhang,Mingsheng Shang,et al. Gradient-Based Differential kWTA Network With Application to Competitive Coordination of Multiple Robots[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(8):1452-1463.
APA Mei Liu,Xiaoyan Zhang,Mingsheng Shang,&Long Jin.(2022).Gradient-Based Differential kWTA Network With Application to Competitive Coordination of Multiple Robots.IEEE/CAA Journal of Automatica Sinica,9(8),1452-1463.
MLA Mei Liu,et al."Gradient-Based Differential kWTA Network With Application to Competitive Coordination of Multiple Robots".IEEE/CAA Journal of Automatica Sinica 9.8(2022):1452-1463.
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