With　the　development　of　UAV　technology,　the　re-search　of　leader-follower　formation　tracking　has　been　extensively　studied　due　to　its　simple　formation　structure　and　communication　connection.　However,　the　high　maneuverability　and　dynamics　of　UAVs　make　the　formation　tracking　control　much　more　complicated　and　difficult.　In　this　paper,　the　optimal　formation　control　algorithms　are　proposed　for　both　near-equilibrium　and　general　dynamic　control　cases　considering　the　time-varying　leader　velocity　and　communication　delays.　In　near-equilibrium　control　case,　a　linear　optimal　control　strategy　is　proposed,　and　the　function　coefficient　can　be　derived　by　using　a　backward　recursion.　Then,　the　result　of　the　near-equilibrium　case　is　extended　to　the　general　dynamic　case　where　the　leader　moves　at　an　uncertain　time-varying　velocity.　In　each　sampling　period,　based　on　the　updated　state　information　of　UAVs,　the　optimal　formation　control　strategy　can　be　obtained　by　the　same　algorithm　design　approach　as　the　near-equilibrium　case,　and　the　function　coefficient　is　the　convergent　value　deduced　by　using　a　backward　recursion　manner.　©　2021　IEEE.