This article addresses the formation-containment control problems for networked mobile robots via the Udwadia-Kalaba (U-K) approach. First, a formation-containment control algorithm is proposed for the networked mobile robots. Compared with the most existing results about formation-containment control, which are based on the kinematic models of the mobile robots, this article uses the dynamic model and obtains a lower-cost control force. To further enhance the robustness of the system, a distributed formation-containment control algorithm is proposed based on distributed estimators. Different from the centralized strategies, the distributed algorithm proposed here only requires local information, thus saves communication resources. Finally, some simulation examples are provided to illustrate the effectiveness of the approaches.