Robust Moving Target Enclosing Control of Multi-Agent Systems

This article addresses the robust moving target enclosing control problem in multi-agent systems. Unlike previous studies, our approach handles an uncertain moving target whose trajectory is governed by an exosystem with unknown system dynamics and output functions. Specifically, we develop an adaptive internal-model-based observer to asymptotically estimate the target's velocity. Subsequently, we introduce a novel dynamic distributed control protocol that integrates prescribed performance control and sliding mode control techniques. We demonstrate that under this control scheme, the multi-agent system achieves asymptotic tracking of the target and converges to the desired formation pattern with desired circling radii and separation angles. Finally, a numerical simulation is conducted to demonstrate the effectiveness of the proposed approach. © 2025 John Wiley & Sons Ltd.