In　this　paper,　a　double-layered　formation　control　with　prioritized　missions　composition　is　proposed　for　static　formation　of　multi-agent　systems.　At　the　first　cooperation　layer,　the　motion　trajectory　of　agents　is　planned　by　designing　a　distributed　model　predictive　control　(DMPC)　strategy　without　obstacle　avoidance　constraints.　At　the　second　perception　layer,　a　velocity　in　the　agent-obstacle　direction　is　generated　to　keep　a　safe　distance　between　agent　and　obstacles.　Finally,　the　outputs　of　the　two　layers　are　elaborately　merged　by　the　null-space-based　control　(NSBC).　As　a　result,　collision-free　trajectories　can　be　planned　using　few　computational　power.　Simulation　results　show　the　effectiveness　of　the　proposed　formation　control　method.　©　2021　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.