<p>This paper proposes a new continuous-time control method to address the problem of bipartite formation tracking for heterogeneous multiagent systems (HMASs) with uncertain follower models under switching and fixed topologies. First, to estimate the state information of the dynamically unknown leader, an objective trajectory system is constructed for the followers. Then, using the Lyapunov theorem, it is proved that under the studied conditions, the system states can achieve bipartite consensus with the leader’s state. Subsequently, based on the objective trajectory system, fuzzy logic system, and backstepping method, a control law is designed for the follower system with unknown nonlinear characteristics. The proposed method provides continuous control under switching topologies and ensures that the follower group tracks the leader in the desired formation. At the same time, the method imposes few restrictions on the dynamic characteristics of the follower system, making it widely applicable. At the end of the paper, numerical simulations demonstrate that the control objectives are achieved for HMASs with complex nonlinear characteristics under switching topologies.</p>