The leader-follower formation control of the multi-robot system is studied in this paper.The expected trajectory of the follower is given according to the formation constraints,thus the formation issue is turned into trajectory tracking of a single follower.Then the linear velocity controller and angular velocity controller for the follower are designed based on dual power reaching law method,which can ensure that the tracking error quickly converge to zero,so as to keep the formation stability.Finally,a numerical example is given to verify the effectiveness of the proposed method.