A formation control method for multirobots was proposed. The method made use of distanceangle (l-φ) control, bearingonly information of the followers observing the leader, and the unscented Kalman filter (UKF) was employed to estimate the states of leaderfollowers system. The results were used for followerrobots movement control via the inputoutput feedback control law which could make the followerrobots to accurately track the leaderrobot，so that stability and rapidity of the robot formation were ensured and the desired formation of the robots was achieved. Simulation results are presented to verify the effectiveness of the approach.