An Integral-Enhanced Adaptive Gradient Neural Network for kWTA and Multirobot Coordination

Existing computational methods for the $k$ -winners-take-all ( $k$ WTA) operations often suffer from limitations in eliminating lagging errors, high computational complexity, and weak robustness. To deal with these challenges, we propose an integral-enhanced adaptive gradient neural network (IAGNN) for $k$ WTA. We demonstrate that the IAGNN integrates an adaptive coefficient to eliminate lagging errors while retaining an $O(n^{2})$ computational complexity. We proved the Lyapunov stability and robustness of the IAGNN. We provide a numerical simulation, and the results demonstrate the stability and robustness of the IAGNN. Furthermore, we implement the IAGNN in a multirobot tracking system for competitive allocation coordination, and the results demonstrate the operational feasibility and noise resistance of the IAGNN.