This article proposes a controller for the capture problem of multiple moving targets. The controller includes three functions: the repulsion term between robots is used for collision avoidance; the attraction between the robot and the target drives the robot towards the target; the adaptive term is used to estimate the speed of the target. For multiple targets that need to be captured, a strategy of combining virtual target points with minimum enclosing circles is adopted. The center of the smallest circle that can contain all targets is regarded as the virtual target point, which is transformed into the capture of the virtual target point. Combined with a certain collision avoidance distance, the robot’s formed enclosing circle can contain the minimum circle where the moving target is located, thereby completing the capture of multiple targets. Finally, the effectiveness of the proposed control strategy was verified through simulation experiments.