This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with input quantization performance. Firstly. at the kinematic level. a distributed guidance law based on an extended state observer (ESO) is designed to compensate for the unknown speed of neighbor agents for ... https://lightspeedlovers.shop/product-category/suction-cup-dildos/