This work investigates the formation control problem for moving target circumnavigation in a multi-wheeled mobile robot (WMR) system. A distributed target position and velocity estimator (PnVE) is developed to synchronize the estimated location and velocity data for all WMRs. Subsequently, the distance and the relative angle between each WMR and the target are calculated, and the optimal relative velocity vector and the guiding law for the WMRs are then established to address the formation control issue. Dynamic surface control is used to precisely regulate the linear velocity and heading angle of the WMR in accordance with the specified guideline values. The theoretical study demonstrates that the closed-loop control system is stable and all signals are uniformly ultimately bounded (UUB), so validating the achievement of the moving target circumnavigation control objectives. A numerical simulation is also conducted to illustrate the efficacy and practicality of the proposed control approach.