A UAV formation modeling and control method based on sliding mode controller with improved exponential reaching law is proposed.Firstly,the elastic system model is used to analyze the dynamics of UAV formation.Each UAV is regarded as a mass point,and the positional relationship among UAVs can be regarded as the binding force during formation control.On this basis,a fixed communication topology is adopted to analyze the balance state of UAV formation,and the dynamics model of UAV formation is established.At the same time,a sliding mode controller based on improved exponential reaching law is used to realize the cooperative control of UAV formation,so as to speed up the convergence to system stability,weaken the chattering phenomenon of traditional sliding mode controller and ensure the stability of cooperative control of UAV formation.Finally,the feasibility of UAV formation dynamics model and the stability of UAV formation controller are verified by actual UAV formation flight tests.