RESUMO
In this paper, the distributed optimal control method is used to study the cooperative formation of heterogeneous multi-agents in the air-ground environment. The considered system consists of an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV). The optimal control theory is introduced into the formation control protocol, the distributed optimal formation control protocol is designed, and the stability is verified by graph theory. Furthermore, the cooperative optimal formation control protocol is designed, and the stability is analyzed using a block Kronecker product and matrix transformation theory. Through the comparison of simulation results, the introduction of optimal control theory shortens the formation time of the system and accelerates the convergence speed of the system.