This book presents a systematic theoretical approach and control framework on the time-varying formation tracking for high-order heterogeneous swarm systems.

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Yongzhao Hua is currently an Associate Professor at Institute of Artificial Intelligence, Beihang University, Beijing, China. His research interests include distributed control, optimization, and game for swarm systems.

Xiwang Dong is currently a Professor and an Associate Dean at Institute of Artificial Intelligence in Beihang University, Beijing, China. His research interests include consensus control, formation control, and containment control of swarm systems with applications to UAV swarm systems.

Zhang Ren is currently a Professor at School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include aircraft guidance, navigation and control, and cooperative guidance and control of swarm systems.

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