The invention discloses a multi-agent finite time formation path tracking control system. The control system comprises a visual positioning system, a controller, a WIFI module and a plurality of mobile robots, and the visual positioning system uses a camera to identify positioning tags fixed on the mobile robots and sends state information of each robot to the controller; the controller calculates the output of the controller according to the relative position information among the robots obtained by the visual positioning system and a given formation target; the WIFI module transmits a control signal of the controller to the mobile robot; and the plurality of mobile robots adjust the wheel speed of the two wheels according to the received control signal to complete the formation task. The invention correspondingly provides a control method of the system. Input saturation constraints widely existing in a multi-agent system in an actual environment are considered, a single saturation function is introduced, and the convergence speed of multi-agent formation tracking is increased compared with a asymptotically stable method.