Multi-agent system for target tracking on a sphere and its asymptotic behavior

We propose a second-order multi-agent system for target tracking on sphere that contains centripetal force, bonding velocity alignment operator to the target, and cooperative control terms between flocking agents. employ regularized rotation instead of Rodrigues’ derive tracking. From property operator, we can decompose phase agents into translational structural parts. By analyzing part this reference frame decomposition, obtain rendezvous results given target. When target’s position, velocity, acceleration vectors are available, then complete occurs. In absence information, if coefficients sufficiently large enough, practical • Target using centripetal, alignment, control. Regularized avoid singularity antipodal points. Translational decomposition via decomposition. Control laws asymptotic or rendezvous.