<p>This regular paper investigates the fully distributed fuzzy adaptive output formation tracking for heterogeneous nonlinear multiagent systems (MASs) with an uncertain leader, in which the model parameters and output matrix of the leader are not available to any follower, while the followers are modeled with immeasurable states and uncertain nonlinear dynamics. An innovative class of fully distributed dynamic compensator is developed to estimate the leader’s state and model knowledge while adapting to the different orders of heterogeneous systems. The fuzzy adaptive observer designed by introducing fuzzy logic systems to model the nonlinear dynamics of the followers can be used to compensate immeasurable states. Then, a novel kind of model-independent fuzzy adaptive formation tracking protocol is constructed with reference to the fully distributed dynamic compensator and the fuzzy adaptive observer, and it is proved that the formation tracking error can be arbitrarily small. Finally, a simulation example shows the validity of the proposed theory.</p>