For the problem of unmanned air vehicles(UAVs) formation flight when model uncertainty and exogenous
disturbance are considered, firstly, based on the autopilot model of UAV and the kinematics equations of the formation,
the three-dimensional(3-D) mathematical model of the formation flight is established, which has distinct physical meaning.
Then, the controller design method based on??∞ control theory is presented. Controllers for forward, lateral and longitudinal
channels are designed respectively. The method is brief and exact, which reduces the difficulty of the parameter adjustment
and simplifies the 3-D formation control problem. Simulation results show that the controller is effective and can keep or
change formation configuration rapidly, stably and exactly with no collision, and has strong robust performances.