In order to realize the stable flight of six-rotor UAV formation under compound interference,a fast terminal sliding mode robust control method is proposed.Firstly,the topology of the leader-follower formation is described,and the 6 degrees-of-freedom motion model of six-rotor UAV is established.Then,the formation outer loop control law is designed to convert the formation command into the attitude command,and the rotor speed command is obtained by designing the formation inner loop control law.Finally,the adaptive law is introduced to estimate the compound interference,which realizes the stable flight of the six-rotor UAV formation.The simulation results show that compared with the sliding mode control method,the proposed method can realize the stable flight of six-rotor UAV formation more quickly,and the maximum trajectory error is only 0.2 m,and the maximum estimation error of compound interference is only 0.1 m/s2,which shows better control effect.