The relative motion model of UAVs formation flight is constructed with tensor analysis, and the system energy function is constructed with the estimations of the external disturbances during flight. According to Lyapunov stability criterion, an adaptive robust control law is presented to keep the UAVs formation flight. The research results show that the proposed UAVs formation flight tensor model has broad applicability, and provides new ways to the further research of the UAVs formation flight as well as new ways to overcome the computing problem resulting from the singular point of the body frame, while the proposed control law is simple and effective.