Cooperative target tracking-fencing control for heterogeneous MAS

This paper develops a cooperative control scheme for heterogeneous MAS (multi-agent system) to address the tracking and fencing problem of a non-cooperative maneuvering target. The proposed hierarchical scheme achieves multi-objective cooperative control of state estimation, tracking-fencing, and guidance. Firstly, a prescribed-time convergent distributed observer is constructed to achieve rapid and accurate estimation of unknown target motion. Secondly, an adaptive tracking controller with unknown input compensation is designed to maintain stable tracking with a time-varying formation configuration. Thirdly, a second-order center state estimator is developed to resolve state dimensionality discrepancies across heterogeneous platforms, providing precise guidance information for low-dimensional agents. Finally, a fencing controller with collision avoidance constraints and an angle tracking controller are designed, enabling the agents to self-organize into a stable fencing configuration. Simulations confirm that the proposed method enables cooperative tracking-fencing against unknown target maneuvers via heterogeneous agents.