Distributed Label-Free Fencing of Second-Order Multi-Agent Systems for a Moving Target With an Unknown Time-Varying Acceleration

Abstract

This letter investigates the moving target fencing problem for second-order multi-agent systems, where an unknown time-varying acceleration actuates the target. Without predefined distances, we propose a distributed label-free target-fencing strategy comprising a finite-time target motion estimator and a label-free target fencing controller. Relying solely on the target position, the estimator ensures the finite-time convergence of the estimation errors regarding target velocity and acceleration. The controller is designed with an attractive term that propels agents towards the target and an inter-agent repulsion term. The target is asymptotically fenced under the proposed fencing strategy, ensuring no inter-agent collisions and achieving velocity convergence, even with unexpected misbehaving agents. The results are proved by rigorous theoretical analysis and verified by numerical simulations.