In this paper, a decentralized control algorithm is proposed for a group of heterogeneous agents with nonlinear dynamics such that it achieves synchronization in diverse collective motion patterns. With the aid of a group of deliberately designed linear homogeneous reference models, the synchronization problem is converted into a class of regulation problem. The regulation problem is hence solved using the nonlinear output feedback control technique. The conversion and, hence, the decentralized synchronization algorithm are valid when the multiagent system is jointly connected in terms of its time-varying network topologies. The effectiveness of the algorithm is verified through theoretical analysis.