Heteropolysaccharides are classified into three main categories: glycosaminoglycans (GAGs), glycoconjugates, and mucilage. GAGs include hyaluronic acid, chondroitin, keratan sulfate, dermatan sulfate, and heparin. They are long unbranched chains composed of repeating disaccharide units. Glycoconjugates include proteoglycans, glycoproteins, and glycolipids. Proteoglycans are GAGs covalently attached to core proteins. GAGs contribute to tissue structure and function through their hydrophilic and compressive properties. They also act as lubricants and barriers in tissues like cartilage.