This paper studies a discrete-time formation containment tracking control problem of a linear heterogeneous multi-unmanned system under the leader-follower formation with switching directed topology and unknown external disturbance. To solve the containment tracking control of the heterogeneous multi-unmanned system with switching directed topology, distributed containment control strategies are presented in this paper. First, according to practical situation, the discrete-time heterogeneous multi-unmanned system composed of unmanned aerial vehicles and unmanned ground vehicle is given. Then, by using switching directed topology, the distributed state feedback control strategies are proposed for the leaders and followers. An $l_2-l_{\infty }$ performance index is introduced to guarantee the tracking performance of the heterogeneous multi-unmanned system under the unknown energy-bounded disturbance. The controller gains of the leaders and followers are solved by a set of linear matrix inequalities (LMIs). Finally, simulation results demonstrate the effectiveness of the designed control strategies.

研究了具有切换定向拓扑和未知外部扰动的前轮跟随编队下的线性异构多无人系统的离散时间编队遏制跟踪控制问题。为了解决带有切换定向拓扑的异构多无人机系统的安全壳跟踪控制问题，提出了分布式安全壳控制策略。首先，根据实际情况，提出了由无人机和地面无人机组成的离散时间异构多无人机系统。然后，通过使用切换有向拓扑，为领导者和跟随者提出了分布式状态反馈控制策略。一个${升}_{\mathrm{2个}}-{升}_{\infty }$引入性能指标以保证在未知能量受限扰动下异构多无人机系统的跟踪性能。领导者和跟随者的控制器收益通过一组线性矩阵不等式（LMI）求解。最后，仿真结果证明了所设计控制策略的有效性。