This paper presents a distributed formation control for multi-robot dynamic systems with external disturbances
and system uncertainties. First from the Lagrangian analysis, the dynamic model of a wheeled mobile robot can
be derived. Then the robust distributed formation controller is proposed based on sliding mode control, consensus
algorithm, and graph theory. In this study, the robust stability of the closed-loop system is guaranteed by the
Lyapunov stability theorem. From simulation results, the proposed approach provides better formation responses
compared to consensus algorithm.