This　paper　proposes　a　decentralized　adaptive　event-triggered　fault-tolerant　cooperative　control　(ET-FTCC)　scheme　for　multiple　unmanned　aerial　vehicles　(UAVs)　and　unmanned　ground　vehicles　(UGVs)　with　actuator　faults　and　external　disturbances　under　denial-of-service　(DoS)　attacks.　The　multiple　UAVs　and　UGVs　have　a　larger　search　radius,　which　is　important　in　both　the　civilian　and　military　domains.　The　different　dynamics　between　UAVs　and　UGVs　result　in　unbalanced　interactions　in　the　communication　topologies,　which　increases　the　complexity　of　cooperative　control.　DoS　attacks　are　conducted　in　both　sensor　and　control　channels.　The　dynamic　models　of　UAVs　and　UGVs　are　introduced　firstly,　and　the　unified　heterogeneous　multiagent　system　model　with　actuator　faults　is　established.　The　composite　observer　is　designed　to　obtain　the　information　of　state　and　lumped　disturbance,　which　is　used　to　design　the　controller.　In　order　to　save　the　limited　communication　network　resources,　the　event-triggered　mechanism　is　introduced.　The　transformed　error　is　presented　by　using　the　prescribed　performance　function　(PPF).　Then,　the　sliding-mode　manifold　is　presented　by　combining　the　event-triggered　control　scheme　to　achieve　the　tracking　purpose　with　actuator　faults,　external　disturbances,　and　DoS　attacks.　Based　on　the　Lyapunov　function　approach,　the　tracking　errors　are　bounded　within　the　prescribed　boundary.　Finally,　the　effectiveness　of　the　proposed　method　is　verified　by　qualitative　analysis　and　quantitative　analysis　of　the　simulation　results.　This　study　can　enhance　the　security　and　reliability　of　heterogeneous　multiagent　systems,　providing　technical　support　for　the　safe　operation　of　unmanned　systems.　This　paper　mainly　solves　the　FTCC　problem　of　second-order　nonlinear　heterogeneous　multiagent　systems,　and　further　research　is　needed　for　the　FTCC　problem　of　higher-order　nonlinear　heterogeneous　multi-agent　systems.　In　addition,　the　system　may　encounter　multiple　cyber　attacks.　As　one　of　the　future　research　works,　we　can　extend　the　results　of　this　paper　to　high-order　nonlinear　systems　under　multiple　cyber　attacks,　which　contain　DoS　attacks　and　deception　attacks,　and　achieve　fault-tolerant　cooperative　control　of　heterogeneous　multiagent　systems.　©　2024　by　the　authors.