In general, a complex dynamical network (CDN) can be viewed as a combination of a nodes subsystem(NS) and an outgoing links subsystem (OLS), both of which are coupled with each other. In this paper, a velocity tracking control protocol is used to achieve the velocity tracking control of nodes for the nonlinear CDN with the help of OLS. Firstly, the models of NS and OLS for the CDN are established, and three assumptions for CDN and the definition of the outgoing links vector are given. Further, the control objectives of this article are given. The appropriate control protocol and the scheduled auxiliary targets (SAT) are synthesized to realize the velocity tracking control of nodes for the nonlinear CDN. Finally, a numerical simulation comparison experiment is bench tested to validate the effectiveness of the proposed control protocol and the SAT.