A formation keeping controller based on CMAC is presented for multi-UAVs close formation flight control system.The controller combines the CMAC with PID controller and takes the dynamic errors from lateral

longitudinal and vertical channels as input signals to the CMAC neural network.Simulation results show that under both constant speed situations and maneuvering situations

the UAV formation with the designed controller converges to its desired formation and is of small overshoot

high robustness

fast response and strong anti-jamming capability.