<p>The coordinated control of capsule robot systems with impact oscillators presents a challenging research topic due to their inherent discontinuity and high-dimensional underactuated characteristics. These complexities make the dynamics and kinematics of such systems extremely intricate, with different initial states leading to divergent dynamical behaviors, including various steady states and even chaotic behaviors, under the same control parameters. This article not only delves into the dynamical behaviors of multiple impact oscillator capsule robot systems but also places significant emphasis on designing appropriate distributed controllers for these systems to achieve the desired consensus state. A new finding is that the consistency of the internal oscillators is equivalent to the consistency of the external capsules. This has significant implications for the research and application of coordinated control in multi-capsule robotic systems. By employing Lyapunov theory, we demonstrate the stability of the system. Finally, numerical simulation results are given to validate the correctness of the proposed theoretical framework.</p>