Bipartite hybrid formation tracking control for heterogeneous multi-agent systems in multi-group cooperative-competitive networks.

•The structural problem of multiple groups of cooperative-competitive network is identified, which simplifies the analysis of signed graph.•Heterogeneous multi-agent system composed of nonlinear second-order dynamics and linear first-order dynamics are considered, and they are required to implement time-invariant formation and time-varying formation, respectively.•A dynamic target with unknown input is designed to provide trajectory reference for each subgroup. These dynamic targets can be represented as cooperative leaders or confrontational attackers, increasing the applicability of the theory.•The velocity estimator is designed for the first-order dynamic agent, which can estimate the velocity information of the first-order individual effectively