<p>This article investigates the leader-follower time-varying output formation (TVOF) tracking control problem under corrupted output measurements for heterogeneous multi-unmanned systems (MUSs), with a focus on the performance in terms of settling time and signal transmission. The leader is non-autonomous and maneuvers an upper bounded input, which is unknown to all followers, while followers intend to enclose the leader within a predefined geometric configuration. Additionally, the output measurements of followers are susceptible to corruption, leading to position drift and complicating state estimation. To tackle challenges from unknown input and corrupted outputs, a distributed hierarchical event-triggered (ET) control structure, comprising communication layer and controller layer, is developed. In the communication layer, a novel fully distributed prescribed-time (PT) observer is proposed to estimate the leader’s state, which is only updated when the dynamic ET condition is satisfied. In the controller layer, a resilient robust adaptive state estimator is initially designed to achieve PT convergence for state estimation in the presence of corrupted outputs. Then, utilizing a dynamic ET mechanism, an adaptive output feedback prescribed-time controller is proposed and sufficient conditions are derived to guarantee that the TVOF control of heterogeneous MUSs can be achieved in prescribed time. Finally, numerical simulations validate the effectiveness of the proposed methods.</p>