In order to solve the formation keeping problem for a manned/unmanned aerial vehicle(MAV/UAV) formation flight, this paper designs a formation keeping controller for MAV/UAV formation based on a leader-follower strategy. Firstly, the structure of the MAV/UAV formation control system is designed from the view of the formation combat system and the control principle. Then, the formation relative distance-angle kinematic model is established based on the geometric relationship between the leaders and followers. Finally, in consideration of the follower's control model with time-varying disturbances, a dynamic feedback and adaptive controller is designed according to characteristics of the formation kinematic model, and the stability of the controller is analyzed based on the Lyapunov theory. Simulations demonstrate that the designed controller can suppress the influence of the uncertainty disturbance, realize rapid formation adjustment from the initial error to the desired formation and stable formation keeping.