This　paper　addressed　a　well-documented　open　problem　regarding　unmanned　aerial　vehicles　(UAVs)　formation.　Considering　dynamic　system　features,　a　novel　optimal　formation　algorithm　for　UAV　system　is　presented　in　this　paper.　The　UAV　formation　optimization　problem　can　be　first　modeled　as　a　linear　quadratic　optimization　problem　based　on　the　analysis　of　the　discrete　UAV　tracking　error　dynamic　model.　Subsequently,　in　order　to　achieve　the　purpose　of　minimizing　the　error　of　the　system　state　including　speed　and　position,　a　new　optimal　formation　control　design　method　is　proposed.　Finally,　the　effectiveness　of　the　algorithm　is　verified　by　numerical　simulation.　©　2022　IEEE.