A distributed control method for formation of quadrotor UAVs is presented with introductions on the fundamental knowledge of graph theory and consensus of swarm system.The quadrotor UAV is described as a second-order integrator dynamic system,and the relative position is used to describe the UAV formation shape.The quadrotor UAV formation is modeled based on the communication topology relationship of quadrotors.The strategy of follower-leader method integrated with graph-based method is explored.A second-order consensus algorithm is presented,with which the fleet can complete formation gathering and formation maneuvering.Finally,the effectiveness of this algorithm is shown through the simulation results.