A formation control method of quadrotor UAVs based on high-order consensus is designed.Firstly, by using feedback linearization,the nonlinear mathematical model of quadrotor UAVs is simplified into two four-order linear subsystems and two two-order linear subsystems.Then,the fundamental knowledge of algebraic graph theory and matrix analysis are introduced and the position deviation matrix is used to describe the UAV formation shape.Under the above conditions,a high-order consensus formation control algorithm under fixed topology is designed,and the sufficient conditions for its gradual consistency are given.Finally,the Matlab simulation experiment shows that the quadrotor UAVs can complete the behavior of formation gathering and formation shape changes.