  In this paper, we consider a coordination problem for a class of
heterogeneous nonlinear multi-agent systems with a prescribed input-output
behavior which was represented by another input-driven system. In contrast to
most existing multi-agent coordination results with an autonomous (virtual)
leader, this formulation takes possible control inputs of the leader into
consideration. First, the coordination was achieved by utilizing a group of
distributed observers based on conventional assumptions of model matching
problem. Then, a fully distributed adaptive extension was proposed without
using the input of this input-output behavior. An example was given to verify
their effectiveness.
