To solve the problem of the formation control of multi-UAV based on the second-order consensus theory. Taking fixed-wing UAVs as the research object and presenting a formation control method of UAVs based on an improved secondorder consistency algorithm. To improve the consistency algorithm, by introducing a virtual leader that constructs a relative motion coordinate system capable of describing the formation directly. Simultaneously considering the characteristics of the UAV′s kinematic model with decoupled transverse and longitudinal directions, as well as the performance constraints of the UAV system. To accommodate the UAV formation transformation under varying scenarios by employing the KM algorithm to design a redistribution strategy for the positions of formation members during formation transformation. Additionally, using the improved L1 guidance law as the virtual leader’s trajectory tracking method. Finally, using simulation to verify the feasibility and effectiveness of the formation control method proposed in this paper. The results indicate that the method can form a stable formation while satisfying the performance constraints of the UAV system, and the method can quickly perform formation transformation with switching topologies and eliminate position errors across a variety of flight scenarios.