Adaptive Distributed Label-Free Fencing Control of Disturbed Second-Order Multi-Agent Systems for a Freely Moving Target

This paper investigates the freely moving target fencing problem for disturbed heterogeneous second-order multiagent systems. Without the need for the disturbance bound, we propose an adaptive distributed label-free target-fencing controller. The controller is designed via backstepping techniques and adaptive techniques without predefined distances. The target is asymptotically fenced under the proposed fencing controller and in the presence of unknown disturbances, ensuring no interagent collisions and achieving velocity convergence, even with unexpected agent losses. The results are proved by rigorous theoretical analysis and verified by numerical simulations.