Aiming at the problems of external interferences and actuator failure faced by the quadrotor UAV formation, an Adaptive Barrier Function Fast Terminal Sliding Mode Control (ABFFTSMC) is proposed. Firstly, a distributed formation control method is designed, which consists of an undirected fixed topology for communication between quadrotor UAVs, thus communication is realized only by using the information of neighboring UAVs, reducing the demand for global data and the pressure on communication bandwidth. A fast terminal sliding mode controller with adaptive barrier function is designed. The variable gain is used to compensate for interference and faults, and the tracking errors converge to zero in a finite time. The simulation results show that this algorithm can greatly improve the fault tolerance performance of formation of multiple quadrotor UAVs under the conditions of external interferences and actuator failure.