The consistency control problem of isomorphic multi-agent system is considered in most of the research on multi-agent systems, but in practical application, a variety of agents need to work together according to the desired formation shape, and the dynamics of real systems often have nonlinear properties.Aiming at this problem, a heterogeneous nonlinear multi-agent system time-varying formation control strategy based on PI controller and adaptive control strategy is designed by using nonlinear parameter decomposition method under undirected topology.Since the real system will inevitably be affected by external disturbances, and there is a certain range of external disturbances.Therefore, on the basis of the designed control strategy, the stability of the multi-agent system with external bounded disturbances is considered.The stability of the designed control strategy is analyzed by constructing a Lyapunov function and verified by making simulation on Matlab.The results show that the time-varying formation control of heterogeneous multi-agent system can be realized by the designed control strategy and it has certain effectiveness.