Abstract: Addressing the challenges of coordination of dynamic differences, security assurance under network attacks and adaptability to encirclement of rapidly maneuvering targets for heterogeneous swarm systems, the distributed secure and agile formation tracking control problem is investigated. A distributed secure and agile formation tracking control framework based on prescribed-time control, hybrid switching theory and artificial potential field method is proposed. By constructing Lyapunov functions and employing the average dwell time (ADT) method, stability analysis is conducted, and it is proven that the closed-loop system can achieve prescribed-time convergence of secure and agile formation tracking errors under certain communication topology connectivity conditions. Simulation and experimental results show that, under denial-of-service (DoS) attacks with a duration ratio of 60% and in the presence of obstacles, the designed method can guarantee that observer estimation errors converge within the prescribed time of 8 s and formation tracking errors converge within the prescribed time of 10 s, achieving secure and agile formation tracking control of heterogeneous unmanned aerial vehicle-unmanned ground vehicle swarm systems.