ABSTRACTThis article investigates the fully distributed output time‐varying formation tracking issue for heterogeneous nonlinear multiagent systems on directed graphs, in which the tracking target is a general linear dynamic leader while the followers are composed of first‐order and second‐order dynamic individuals with unknown nonlinearities and velocity measurement. To solve the problem of computational complexity explosion and different order of heterogeneous systems, a fully distributed dynamic compensator is presented. Then, an adaptive observer is designed using fuzzy logic systems to estimate the unknown velocity information. With reference to these observers, a fuzzy adaptive output formation tracking control protocol is designed. Lyapunov stability theory is used to show that the output formation tracking error is uniformly ultimately bounded. Finally, numerical simulation is given to verify the feasibility of the theory.