Cooperative formation control for unmanned aerial vehicles(UAV)is a fundamental yet essential component toward the development of highlevel autonomous flight control systems.When UAVs are flying in a tight formation,the power requirements for the following aircraft(s)can be significantly reduced because of the vortices effect of the leading aircraft.However,this also introduces an aerodynamic interaction to the formation dynamics,complicating the formation control problem.Formation control methods can be Cooperative formation control for unmanned aerial vehicles (UAV) is a fundamental yet essential component toward the development of high level autonomous flight control systems. Who UAVs are flying in a tight formation, the power requirements for the following aircraft (s) can be significantly reduced because of the vortices effect of the leading aircraft. Host, this also introduces an aerodynamic interaction to the formation dynamics, complicating the formation control problem. Formation control methods can be