Considering　the　actual　multi-agent　coverage　process,　the　motion　trajectories　are　seriously　affected　by　disturbances　and　noise.　In　this　paper,　a　cooperative　control　method　based　on　active　disturbance　rejection　controller　(ADRC)　for　multiple　mecanum-wheeled　robots　(MWMR)　is　proposed　to　improve　its　robustness.　In　particular,　to　suppress　the　total　disturbances　during　the　running　of　each　robot　and　reduce　large　computation　and　observation　cost　of　high　order　ADRC,　a　reduced-order　cascaded　ADRC　(RC-ADRC)　is　proposed.　Moreover,　distributed　controller　is　proposed　to　track　the　expected　trajectories　of　multiple　mecanum-wheeled　robots　under　disturbances.　Compared　with　the　proposed　RC-ADRC　based　cooperative　control　scheme　and　PID　based　cooperative　control　one,　the　favorable　motion　trajectory　tracking　performance　is　obtained.　Simulation　results　verify　the　superiority　of　the　method.　©　2023　IEEE.