Abstract: The coordinated control for robot teams in performing tracking tasks is studied in this paper. Owing to the fact that a robot team is consisted of robots with limited abilities, the peformed object which may be rigid body, flexible body or a mechanical system, and tile tracked motion which may be various, so the overall system is considerably complex. For such mechanical system, according to the mechanical properties of the system, the control task to be realized can be decomposed, and in consequence construct hierarchical architecture to the control. Therein each layer in the hierarchy is decomposed isolately to achieve simpler specific tasks. The coordination among the subtasks of the robots is achieved by self-organizing algorithms automatically.