Air ground cooperative control is one of the hottest researches, and the differences between air ground agents' dynamic models represented by Quadrotor UAVs and unmanned vehicles bring great challenges. This paper investigates time-varying output group formation tracking control problems for heterogeneous high-order multi-agent systems with directed topologies. Agents in the structure of heterogeneous multi-agent systems' models given by this paper are classified into three types, including the virtual leader, the group leader, and the follower. The virtual leader can be used to control the trajectory of states associated with the whole heterogeneous multi-agent systems. Group leaders track the trajectory determined by the virtual leader and achieve the coordination among subgroups by communicating with each other. Followers track the states of group leaders and form the desired formation. Under the condition of directed topologies, based on neighboring information, observer theory and sliding mode control theory, a control protocol is constructed. Then the stability of heterogeneous multi-agent systems under the protocol is proven by using Lyapunov theory. Numerical simulations indicated that the approaches presented by this paper can be applied to the physical models represented by Quadrotor UAVs and Unmanned vehicles and have significant project application value.
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