The time-varying formation tracking problem for second-order multi-agent systems under external disturbances is studied.Firstly, an extended state observer is designed to estimate the external disturbances of the system, and a time-varying formation tracking control protocol with a disturbance compensation term is proposed.Then, a formation vector generation model is designed by constructing a tracking differentiator, which improves the response process of the system to formation instruction control input.Finally, the formation-tracking feasibility condition is given and the stability of the system under the control protocol is proved.A comparative numerical simulation is carried out and the theoretical results are verified.