Oddly enough, in Brothers In Arms (and FPS, OMG, burn the heretic!!!! MWAHAHAHAHAHA BURN!!!!!!!!), you could have a very good command of your squad without actually having controllable NPCs. Yep, it's a FPS, so you were basically only controlling your character. There was a good command scheme that allowed you to give quick orders to your allies. Suppress these baddies, move to the location, rush them now! This allowed some cool enough tactics. One team would be suppressing the enemy, while you commanded another to sneak around back and flank them.
Furthermore, this was in the context of AI-controlled NPCs. They were smart enough to take cover wherever they were, or retaliate well enough if you didn't give any orders.
That would be more what 'a leader barking orders' would be like, not absolute control.
If anything like that, the AI should be self-sufficient, with you giving more specific orders some of the time. The problem really is that AI in most RPGs can be really dumb, dumber than some forum members here. Casting inappropriate spells, walking into traps, etc. That, and the control scheme in NWN was abysmal. The orders they allowed you were pretty crappy.