In　order　to　solve　the　problem　which　is　the　leader-follower　formation　control　for　robots,　a　dynamic　surface　control　method　is　proposed　for　robots　whose　wheel　axis　center　and　geometric　center　don＇t　coincide.　A　virtual　vehicle　is　introduced　to　transform　the　formation　problem　into　a　trajectory　tracking　problem.　The　dynamic　surface　method　is　proposed　to　avoid　the　differential　explosion　caused　by　backstepping.　Using　Lyapunov　function　theory,　it　is　proved　that　all　signals　of　the　closed-loop　system　are　consistent　and　ultimately　bounded.　The　simulation　results　also　prove　the　effectiveness　of　the　proposed　method.