Significant progress has been achieved in the field of High-Order Fully Actuated (HOFA) systems within the context of individual systems in recent years. However, research on achieving consensus in nonlinear multi-agent systems (MASs) remains limited. This study aims to tackle the distributed consensus control challenge of nonlinear MASs incorporating unknown parameters using the HOFA method. It is worth noting that conventional approaches based on backstepping require the design of controllers for each subsystem of each agent system, and the controllers for each subsystem need to utilize the derivatives of the previous virtual controllers, thereby increasing the difficulty of controller design for MASs and potentially leading to “differential explosion.” Therefore, this study develops a new control method for HOFA multi-agent systems (HOFA-MASs), aiming to design only one controller for each agent system, thereby reducing the burden of controller design and avoiding “differential explosion.” The feasibility of the designed control strategy is validated through simulation experiments.