For the artificial swarm system, this article proposes a novel formation control design. First, an accurate dynamic model is established based on dynamic swarm performances. Further, the collaborative formation can be formed, and safety zones are guaranteed at the same time. Then, the controller merging properties of the swarm system is devised. By designing the nominal control item and the adaptive robust control item, the resulting design can achieve the swarm formation movement and uncertainty compensation perfectly. The deterministic performances are guaranteed, such that uniform boundedness and uniform ultimate boundedness. The superiority of the design proposed is illustrated by the simulations of heterogeneous mobile robots system.