There are a lot of various approaches to control UAVs (Unmanned Autonomous Vehicles). One of such methods is cooperative control. Cooperative control is one of the main problems to study for scientists. Such a control improves the efficiency of several robots in different fields: rescue operations, security, transport, military, navigation systems, agriculture, maintenance and etc. The cooperative control implies two control strategies. The centralized strategy means that there is a monitoring and control of all robots.The decentralized strategy means that there is a leader and each robot has its own regulator. In this paper, a group of the UAVs based on the virtual structure is presented.