In this study, dynamic formation tracking and interception are performed by controlling multi-agent using a Euler-like Lagrangian model. The purpose is to use the distance-based rigid graph method to control multi-agent, and ultimately achieve dynamic formation tracking and target interception of multi-agent. Initially, distance-based graph stiffness and back-stepping techniques were considered to address the formation control challenge. This method helps achieve the initial expected formation and effectively complete the formation mission. Leaders continue to chase the moving target, while followers stick to the expected arrangement. The leader then precisely tracks the moving target and surrounds it within the formation. By using Lyapunov stability theory with adaptive control, it is ensured that the total distance meets finite and consistent error limits. Finally, the numerical simulation of the interception plan was carried out by 6 multi-agents and 1 target at different times to verify the effectiveness of the control method.

在本研究中，动态编队跟踪和拦截是通过使用类欧拉拉格朗日模型控制多智能体来执行的。目的是利用基于距离的刚性图方法对多智能体进行控制，最终实现多智能体的动态编队跟踪和目标拦截。最初，考虑使用基于距离的图刚度和后步技术来解决编队控制挑战。该方法有助于实现初步预期编队，有效完成编队任务。领导者继续追逐移动的目标，而追随者则坚持预期的安排。然后，领导者精确跟踪移动目标并将其包围在编队内。通过使用李亚普诺夫稳定性理论和自适应控制，确保总距离满足有限且一致的误差限制。最后，通过6个多智能体和1个目标在不同时刻的拦截方案进行数值模拟，验证了控制方法的有效性。