In this paper a distributed leader-follower model-based control approach is proposed for a class of heterogeneous nonlinear multi-agent systems under directed graph. The dynamic of each follower agent is modeled by a first-order continues-time nonlinear state equation with process noises. The states are measured by the restriction of measurement sensors and the contamination of independent noises. A suitable observer to estimate unmeaured states is designed for each follower agent via employing bucy extended Kalman filter. Finally, the simulation results are provided to show the validity of the proposed control scheme.

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