  We propose a second-order multi-agent system for target tracking on a sphere.
The model contains a centripetal force, a bonding force, a velocity alignment
operator to the target, and cooperative control between flocking agents. We
propose an appropriate regularized rotation operator instead of Rodrigues'
rotation operator to derive the velocity alignment operator for target
tracking. By the regularized rotation operator, we can decompose the phase of
agents into translational and structural parts. By analyzing the translational
part of this reference frame decomposition, we can obtain rendezvous results to
the given target. If the multi-agent system can obtain the target's position,
velocity, and acceleration vectors, then the complete rendezvous occurs. Even
in the absence of the target's acceleration information, if the coefficients
are sufficiently large enough, then the practical rendezvous occurs.
