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Aiming at the disadvantages of the complicated programming of the existing multi-robot control system and the inability to flexibly change the robot actions, the robot cluster control system based on MQTT uses network transmission mode. Through MQTT, the action is sent to the target robot without using the wired connection, and has the function of action repetition. The robot action can be recorded manually, Then, it is reproduced, which greatly reduces the difficulty of programming and debugging. This kind of control system allows the robot to only need to accept the command from the upper computer and execute the action instructions issued by the upper computer to complete the synchronization and coordination work, which greatly reduces the CPU processing tasks of the robot and reduces the production cost of the robot. At the same time, the upper computer controls the robot You can correct wrong actions in time, stop work, change tasks, etc., without worrying about robot actions caused by previous programs. The system controls three quadruped robots, and the results show that the system can make the three robots work together with minimal movement error and can fully reproduce the movement.