Constructing　and　maintaining　formation　is　a　hot　pot　due　to　the　high　performance　and　efficiency　of　cooperative　flight.　A　formation　control　law　based　on　terminal　sliding　mode　method　with　high-precision　tracking　capability　is　presented　to　ensure　the　formation　can　be　realized　in　limited　time.　The　member　kinematics　model　of　the　quad-rotor　unmanned　aerial　vehicles　(UAVs)　is　established　and　can　be　decomposed　into　two　steps.　Firstly,　we　propose　a　finite-Time　state　estimating　algorithm　and　obtain　the　system　error　model.　Then　the　position　control　signal　is　designed　while　the　angular　subsystem　can　track　the　desired　orientation.　Simulation　results　show　that,　the　followers　can　estimate　the　maneuvers　of　the　leader　precisely　according　to　the　directed　communication,　and　maintain　the　formation　quickly　and　stably.　©　2017　IEEE.