Concerning the communication delay of multi-robot formation control, an impulsive control algorithm based on predictive control is proposed. The formation control is transformed into the stability problem by using consensusibility. The predictive model is established. And then the sufficient condition of stability in the multi-robot formation control is obtained by utilizing the stability theorem of Schur (the Lyapunov stability theorem in discrete time) and the impulsive protocol. In the simulation, the communication topology with a spinning tree is set up randomly, and different sample periods with time delay in multi-robot formation control is compared. Simulation results show the effectiveness of the proposed algorithm.