This paper proposes a label-free controller for a second-order multi-agent system to cooperatively fence a moving target of variational velocity into a convex hull formed by the agents whereas maintaining a rigid formation. Therein, no label is predetermined for a specified agent. To attain a rigid formation with guaranteed collision avoidance, each controller consists of two terms: a dynamic regulator with an internal model to drive agents towards the moving target merely by position information feedback, and a repulsive force between each pair of adjacent agents. Significantly, sufficient conditions are derived to guarantee the asymptotic stability of the closed-loop systems governed by the proposed fencing controller. Rigorous analysis is provided to eliminate the strong nonlinear couplings induced by the label-free property. Finally, the effectiveness of the controller is substantiated by numerical simulations.

翻译：本文提出了一种针对二阶多智能体系统的无标签控制器，旨在维持刚性编队的同时，将速度可变的移动目标协作围捕至智能体所形成的凸包内。其中，未为特定智能体预先设定标签。为实现具有碰撞避免保证的刚性编队，每个控制器由两项组成：仅依据位置信息反馈驱动智能体向移动目标趋近的、包含内模的动态调节器，以及每对相邻智能体之间的排斥力。重要的是，本文推导了充分条件，以保证由所提出的围捕控制器支配的闭环系统的渐近稳定性。通过严谨分析，消除了无标签特性引发的强非线性耦合。最后，通过数值仿真验证了控制器的有效性。