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

作　　者：Mei Liu Xiaoyan Zhang Mingsheng Shang Long Jin 

机构地区：[1]School of Information Science and Engineering,Lanzhou University,Lanzhou 730000 [2]State Key Laboratory of Tibetan Intelligent Information Processing and Application,Xining 810016,China [3]Chongqing Key Laboratory of Big Data and Intelligent Computing,Chongqing Institute of Green and Intelligent Technology,Chinese Academy of Sciences,Chongqing 400714,China [4]Shenzhen Research Institute,Lanzhou University,Shenzhen 518063,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第8期1452-1463,共12页自动化学报（英文版）

基　　金：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)(cstc2020jcyjzdxm X0028);the Chongqing Entrepreneurship and Innovation Support Program for Overseas Returnees(CX2021100);the Supercomputing Center of Lanzhou University;the Science and Technology Project of Chengguan District of Lanzhou(2021JSCX0014);the Education Department of Gansu Province:Excellent Graduate Student“Innovation Star”Project(2021CXZX-122)。

摘　　要：Aiming at the k-winners-take-all(kWTA)operation,this paper proposes a gradient-based differential kWTA(GDk WTA)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-k WTA 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.

关 键 词：Consensus filter k-winners-take-all(kWTA) multirobot coordination noise resistance 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]