Aiming at the collision between the unmanned aerial vehicles (UAVs) in tracking motion target due to the inconsistency information, we design the unmanned aerial vehicle (UAV) formation cooperative tracking controller and analyze the flight-stability of the designed controller in the case of only knowing the UAV local information. Recently, a Lyapunov guidance vector field approach is proposed to achieve the desired circular trajectory in the paper. The path planning of a single UAV and the Multi-UAVs cooperative formation tracking motion target are simultaneously studied. In the ideal case, a guidance vector field method is proposed for the heading convergence, which has the advantage of analyzing and solving the collision problem between the unmanned aerial vehicles (UAVs). Further, a variable airspeed controller is used to maintain the UAV cooperative formation flight in a circular orbit, and an adaptive estimate is introduced to ensure the flight-stability of a circular orbit in the case of unknown wind and moving targets. In the process of the UAV formation tracking motion targets, we use a variable airspeed controller to achieve the desired angular spacing. In this paper, the designed controller laws are decentralized based on the local information. Meanwhile, the simulation shows that the designed controller has a good the flight-stability in the process of tracking motion target.