Aiming at the actual multi-robot formation control problems such as obstacle avoidance, external disturbance and hysteresis, a control method based on distributed reference correction is proposed. By using the artificial potential field method and the disturbance observer, the obstacle avoidance problem of mismatched uncertainty is solved. The unreachable reference scene is defined to describe the passive correction behavior of multiple robots when trying to avoid obstacles. A distributed reference correction algorithm is designed for each robot to reduce the adverse effects of passive correction behavior and ensure the boundedness of position tracking error of each robot. Considering the known actuator hysteresis effect, a Bouc-Wen hysteresis compensator is added to the current control law. The effectiveness of obstacle avoidance is verified by Lyapunov stability theory. Finally, numerical simulation and comparison are carried out based on the multi-robot system to prove the effectiveness of the proposed algorithm and controller. Finally, numerical simulation and comparison are carried out based on multi-robot system in MATLAB environment to prove the effectiveness of the proposed algorithm and controller. The experimental results show that the method can form a stable multi-robot formation control under practical problems such as external interference and hysteresis, and avoid obstacles on the path without collision. The proposed distributed reference correction algorithm weakens the passive correction behavior and improves the stability of the system.