Aiming at the situation that each robot can only obtain the azimuth information of adjacent robots in the dynamic formation of multiple robots with incomplete constraints, a distributed PID formation control algorithm with pure azimuth information is proposed. Considering that the pilot robot is susceptible to disturbances such as wind direction or road surface flatness, which brings about the problem that the formation cannot be maintained, the algorithm can effectively eliminate the steady-state error, suppress the influence of interference, improve the dynamic performance of the system, and ensure the global stability of the system by introducing the relative position and relative speed feedback of the following robot. Then, the Routh-Hurwitz stability criterion is used to perform stability analysis to verify the global stability of the formation system. Finally, through simulation experiments, the performance of the proposed control law and the control law based on pure proportion and proportional integration in terms of convergence speed and anti-interference ability are compared. The simulation results show that the proposed control law can make the pilot still form the expected formation after being disturbed, and can realize the fast tracking of the leader"s trajectory, and the relative maximum deviation of the total azimuth error is reduced by 5.4%.