Abstract: Based on the sliding mode control (SMC) method, we propose a distributed multi-UAV formation control method. First, we design a distributed sliding mode surface using a homogeneity-based approach, whereby the formation can be achieved in finite time when the states of a multi-UAV system are on the sliding mode surface. Then, we design asliding mode controller to make the system states reach the sliding mode surface in finite time, while compensating the bounded disturbance existing in the system. Then, assuming an unknown and unmodeled disturbance, we use the extended state observer to estimate and compensate the disturbance.Finally, the feasibility of the proposed method is verified by simulation.