Consistent system state is the basis of distributed cooperative control in multi-UAV systemand consensus control algorithm is an effective method for the multi-UAV system to achieve consistent state.Under communication constraintsthe UAV platform is controlled to evolve to the consistent system state through the consensus control algorithm based on local information interaction.To solve the unfeasibility of changing the communication topology and of multi-hop routing communicationa new fast consensus control algorithm was designed by introducing state difference and predictive state.Theorems about convergence and efficiency of the new algorithm were introduced with a rigorous mathematical proof.Fast task coordination was achieved under distributed cooperative control structure.Theoretical analysis and simulation results verify the feasibility and effectiveness of the algorithm.