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This paper considers the leader-based consensus of heterogeneous multiple agents with nonlinear uncertain systems. Based on the information obtained from the following agents' neighbors, leader observers are designed by the following agents to estimate the leader's states and nonlinear dynamics. Then, to achieve leader-based consensus, adaptive distributed controllers are designed for the following agents to track the designed corresponding leader observers. The effectiveness of the leaderdoi:10.1155/2014/519524 fatcat:wdc7t7umcrclxbulhn253qgbm4