Abstract: A distributed formation control algorithm is proposed based on consensus protocol for multi-UAVs (multi-unmanned aerial vehicles) system with time-varying communication delays and fixed communication network topology. System stability of multi-UAVs system with time delays is analyzed by using Lyapunov-Krasovskii function and the stability condition in terms of LMI is given. When the stability condition is satisfied, the formation control algorithm will guide the UAVs velocity vectors and the formation to asymptotically converge to the desired velocity vector and the desired formation respectively. Simulation example verifies the effectiveness of the control algorithm.