The topic of this chapter is the matrix-weighted consensus tracking problem. In consensus tracking, the graph topology has a leader–follower structure. There are special agents, called leaders, who move with the same velocity. The leaders’ velocity is usually assumed to be unknown to the remaining agents (the followers). The moving leaders represent a time-varying objective, which may be set from an external control station or a leaders’ decision to react with the environment and to response with incoming tasks. It is interesting that the consensus tracking problem presented in this chapter is closely related to the robust consensus problem. Consider a matrix-weighted consensus network, which is initialized in an equilibrium state, and the leaders start to move. The motion of the leaders creates some consensus errors between the leaders and the followers, and thus, deviates the multiagent system from the equilibrium state. From followers’ perspectives, they consider the leaders’ motions as some unknown disturbances. The followers, then, must create corresponding actions to cancel the effects of the leaders’ motion. This argument will be clearly demonstrated via a state transformation from a stationary reference frame to a reference frame moving at the same velocity as the leaders. Along this avenue, the disturbance rejection design methods can also be applied to the matrix-weighted consensus tracking problem for a group of agents having a leader–follower topology without much effort. Furthermore, when the multiagent system has a directed acyclic topology, an inductive design method works, under the condition that each agent asymptotically achieves matrix-weighted consensus with regard to their immediate leaders.