A trajectory tracking cascade formation control method for robots is proposed. The method effectively combines distance-angle(??-??) control and distance-distance(??-??) control scheme, and the unscented Kalman filter(UKF) is employed to estimate the state of Leader-Follower’ robots at all levels. The results are used for Follower-robot’s movement control via the input-output dynamic feedback control law which can make the Follower-robot accurately track the Leader-robot, so that stability and fast convergence of the robot formation are ensured and the desired formation of the robots is achieved. Simulation results show the feasibility of the proposed approach.