Within　the　context　of　ground-air　cooperation,the　distributed　formation　trajectory　track-ing　control　problems　for　the　Heterogeneous　Multi-Agent　Systems(HMASs)is　studied.First,con-sidering　external　disturbances　and　model　uncertainties,a　graph　theory-based　formation　control　protocol　is　designed　for　the　HMASs　consisting　of　Unmanned　Aerial　Vehicles(UAVs)and　Unmanned　Ground　Vehicles(UGVs).Subsequently,a　formation　trajectory　tracking　control　strat-egy　employing　adaptive　Fractional-Order　Sliding　Mode　Control(FOSMC)method　is　developed,and　a　Feedback　Multilayer　Fuzzy　Neural　Network(FMFNN)is　introduced　to　estimate　the　lumped　uncertainties.This　approach　empowers　HMASs　to　adaptively　follow　the　expected　trajectory　and　adopt　the　designated　formation　configuration,even　in　the　presence　of　various　uncertainties.Addi-tionally,an　event-triggered　mechanism　is　incorporated　into　the　controller　to　reduce　the　update　fre-quency　of　the　controller　and　minimize　the　communication　exchange　among　the　agents,and　the　absence　of　Zeno　behavior　is　rigorously　demonstrated　by　an　integral　inequality　analysis.Finally,to　confirm　the　effectiveness　of　the　proposed　formation　control　protocol,some　numerical　simula-tions　are　presented.