This　paper　addresses　the　optimal　control　design　for　UAV　formation　in　the　present　of　time　delays.　Considering　the　long　time　delays,　the　UAV　dynamics　including　the　follower　and　the　leader　are　modeled.　Next,　based　on　the　state　error　definition,　the　UAV　error　dynamics　is　obtained　and　then　the　optimization　formation　tracking　control　problem　is　formulated　to　minimize　the　state　errors　as　well　as　enhance　the　formation　performance.　Afterward,　a　new　optimal　control　algorithm　is　proposed　to　improve　the　formation　control　stability.　Numerical　simulations　validate　the　effectiveness　of　the　proposed　algorithm　to　ensure　the　performance　of　the　follower　tracking.　©　2022　IEEE.