Manned/unmanned aerial team is potential to overcome the autonomy challenge in current unmanned aerial vehicle (UAV) swarm. This paper provides a heterogeneous system containing the cluster space formation control method and generalized homogenization control method. Three-dimension cluster space formation controller could reduce the operator workload through converting the swarm states variables to cluster space variables. The decrease of the operation times could bring lots of benefits to the UAV swarm formation. The utilization of the generalized homogenization controller guarantees the convergence of the system and helps the system converge to the desired states fast. Comparative experiments are conducted on numerical simulations in manned/unmanned aerial team to validate the robustness and superiority of the proposed cluster space formation approach with generalized homogenization controller.