In order to solve the problems that the simplified autopilot is often used to replace the inner loop in the formation keeping control of quadrotor formation which can not fit the real model,and the decline of control accuracy due to disturbance and difficult controller parameter ajustment,a sliding mode formation controller based on RBF and BP neural network is proposed.Firstly,the Leader-Follower concept is used to model the formation problem of quadrotor,and the inner-loop trajectory tracking controller is designed based on RBF neural network approaching uncertainties and interference terms.On this basis,the formation keeping controller is designed according to the communication relationship between UAVs,and the parameters of the controller are adjusted by BP neural network.Finally,the stability is proved by Lyapunov method.The simulation results show that the proposed controller has good anti-interference ability,and can effectively improve the accuracy of formation keeping and keep the a stable and expected formation.