Abstract: We analyze the control methods for integrated attitude synchronization and trajectory tracking in a unified framework with uncertain UAV model parameters. The stability analysis of the multi-UAV Lagrangian dynamic model based on the contraction theory indicates that the global index is synchronized and converges to a common time-varying trajectory. Under the influence of external disturbance, we complete the simulation of the model with certain and uncertain parameters, which shows the robustness of the proposed method. The contraction characteristics indicate that the attitude synchronization velocity is faster than the trajectory tracking velocity.