Warlord
From ErfWiki
Warlord is a unit that has Leadership ability[1][2]. That special (or natural) ability allows Warlords to lead other units in combat and grant a bonus to units under their command.
Apparently, Chief Warlord is not a separate class, but rather a subclass of Warlord. Overlord seems to be a separate class of units (Overlords grant units in their stack a bonus[3], but it is not clear whether that bonus comes from Leadership ability or as a result of some special rule).
Commanders
On some occasions terms Warlord and Commander are used interchangeably.[4]
However, Commander seems to be a more general term since Casters are Commanders too[5], but they do not have Leadership ability.
Origin
Apparently, warlords can be trained in cities. Infantry units can be promoted to warlord in the capital (although at a high cost).[6]