AbstractIn this paper, we deal with the decentralized targeting control problem of collinear agents in three‐dimensional space. Here the direction half‐lines associated with these agents are not coplanar on the baseplane determined by the agents and the target at the very beginning. The two direction angles of each direction half‐line in a local polar coordinate frame associated with each agent are adopted to denote the direction of the corresponding agent. The two agents at the two ends are assumed to already point at the target and stay there. Only through local information exchanges with the left and right neighbors, the remaining agents regulate their own direction angles locally so that their direction half‐lines eventually point to the same target. All the agents and the target are stationary in the sense that their locations do not change. The crucial idea of our designed decentralized targeting control algorithm is to exploit the geometric relations of the direction angles and the relative distances among three neighboring agents. The regulation of the projection lines of the direction half‐lines is the critical step to the present three‐dimensional case from the two‐dimensional one. Finally, the decentralized targeting control problem is converted into a Lyapunov stability problem and resolved. The validity of the obtained theoretical results is illustrated through numerical simulations.