Finite-Time Convergent and Weight-Unbalanced $k$WTA Network With Multirobot Competitive Coordination
Long Mei Jin, Siqi Liang, Shuai Li, Jinguo Liu · IEEE/ASME Transactions on Mechatronics · 2024
A weight-unbalanced$k$-winner-take-all (WU-$k$WTA) network with finite-time convergence is constructed, analyzed, and applied to undirected and directed multirobot systems with unbalanced weights of communication topology. The convergent time of the finite-time$k$WTA network is theoretically derived with theorems proof. Furthermore, comparisons are conducted among the proposed WU-$k$WTA network and other existing$k$WTA works, and results reveal that the proposed network has high precision when encountering undirected or directed weight-unbalanced topologies. Additionally, a dynamic target tracking algorithm is established by employing the proposed WU-$k$WTA network, and its feasibility and efficiency are validated via simulations on a multirobot system and an experiment on the E-puck robot physical platform.