In this paper,we design consensus algorithms for multiple unmanned aerial vehicles (UAV).We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on the sliding mode control by using the distributed UAV information.Within the framework of Lyapunov theory,it is shown that all signals in the closed-loop multi-UAV systems are stabilized by the proposed algorithm,while consensus errors are uniformly ultimately bounded.Moreover,for each local UAV,we propose a mechanism to define the trustworthiness,based on which the edge weights are tuned to eliminate negative influence from stubb agents or agents exposed to extremely noisy measurement.Finally,we develop software for a nano UAV platform,based on which we implement our algorithms to address measurement noises in UAV flight tests.The experimental results validate the effectiveness of the proposed algorithms.