Distributed k-Winner-Take-All Network Under Weight-Unbalanced Topology

This brief investigates a distributed
$k$
-winner-take-all
$(k$
WTA) network that effectively eliminates the lagging error problem. On this basis, a special case that the communication topology of robots is weight-unbalanced in the distributed
$k$
WTA problem is considered for the first time. Then a distributed weight-unbalanced
$k$
WTA (DWU-
$k$
WTA) model is proposed with the aid of a consensus estimator. Theoretical analyses substantiate the usability and exponential convergence of the proposed DWU-
$k$
WTA model in encountering directed weight-unbalanced graphs. A simulation based on a multi-robot system further verifies the feasibility of the proposed model in dealing with dynamic task allocation problems.