The contribution of this paper is a distributed control approach for a class of heterogeneous multiagent systems with unknown leader dynamics. Considering fixed and directed communication graph topologies, we establish a global sufficient condition for uniform ultimate boundedness of the output tracking error between the output of each heterogeneous agent and the output of the leader. If, in addition, the output of the leader is constant, we show that uniform ultimate boundedness reduces to asymptotic synchronization. Several illustrative numerical examples are provided to demonstrate the efficacy of the proposed control architecture.

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