A Noise-Tolerant k-WTA Model With Its Application on Multirobot System

A noise-tolerant k-winners-take-all (k-WTA) model injecting a summation item of error is constructed and applied to execute a k-WTA operation in this article. Then, theoretical analyses and proofs on the convergence of the noise-tolerant k-WTA model with different noise disturbances are carried out. In addition, numerical experiments synthesized by the noise-tolerant k-WTA model and other existing k-WTA models are provided to conduct comparisons to demonstrate the superior robustness and stability of the proposed model. Finally, tracking task experiments of a multirobot system with noise considered are operated to further illustrate the advantages of the proposed k-WTA model over the existing ones.