The invention relates to a coordination control method for a rigid multi-robot generalized system. A rigid multi-robot motion system is set up at first, a rigid multi-robot nonlinear dynamic system isestablished through a T-S fuzzy method, and model transformation is conducted under a framework of the generalized system. In view of difficult acquisition of the centroid speed of a multi-robot base, an output feedback coordination controller is further designed, and thus the multi-robot motion system works stably. Multi-robots are modeled through the T-S fuzzy method under the framework of thegeneralized system, through the designed output feedback coordination controller, the multi-robot control system can stably work, and the coordination control method has broad market application prospects.