When a UAV formation is performing transportation tasks,the external interference may make the movement of the UAVs be out of sync,destroy the formation and damage the transported goods.To solve this problem,a UAV formation control method is proposed,in which keeping the formation stable is its priority.By using the virtual-structure formation flight strategy,Proportional-Differential (PD) controller of the individual quadrotor is designed,to which the loop coupling synchronous controller of the whole formation is added.The validity of this method is verified by simulation.Compared with the method of estimating the virtual leaders state,this method ensures that the UAVs can return to the formation in shorter time with smaller damage on the formation after being disturbed.Moreover,this method can make the yaw angle respond synchronously.