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.