Abstract: The disclosure provides a heterogeneous agent formation control method based on a cloud-model-based quantum genetic algorithm. Heterogeneous agents include a surface unmanned vehicle and an autonomous underwater vehicle. The control method includes the following steps: establishing a dynamics model of a surface unmanned vehicle and an autonomous underwater vehicle; designing formation behaviors of the heterogeneous agents based on a behavior algorithm and a leader-follower algorithm by using the established dynamics model; and optimizing weight coefficients of different behaviors of the heterogeneous agents based on a cloud-model-based quantum genetic algorithm by using the established dynamics model to obtain an optimal formation control strategy and implement formation control over the heterogeneous agents.