The Control of Multiple Unmanned Aerial Vehicles provides readers with a unified framework to address the challenges of multi-UAV target encirclement tracking control. This is achieved by comprehensively integrating the concepts of dynamic modelling, state and disturbance estimation, guidance law design, distributed control, obstacle avoidance and reinforcement learning-based formation tracking control with multi-UAV encirclement tracking systems. The book provides practical insight and solutions to the challenges of multi-UAV use, including limited sensing, communication constraint, wind disturbances and obstacle and collision avoidance, enabling readers to effectively apply the concepts to their work or research. Cutting-edge control techniques and advanced theories are explored, including robust distributed control, adaptive neural network approximation, reinforcement learning and multi-agent systems, presenting readers with state-of-the-art methodologies from which to develop practical applications of UAV formation. Each guidance and control method presented in the book is accompanied by a thorough comprehensive analysis to ensure that each is theoretically grounded. The book ensures transparency by providing open-access simulation codes, allowing readers to easily access and reproduce presented results.