To　achieve　a　desired　formation　of　multiple　unmanned　aerial　vehicles　(UAVs),　especially　small　and　identical　fixed-wing　UAVs　with　limited　computational　capability,　a　practical　leader-follower　formation　control　method　based　on　nonlinear　control　with　positive　velocity　and　saturated　heading　rate　constraints　is　proposed　in　this　paper,　in　which　a　heading　angle　controller　is　developed　with　least　turn　logic　and　a　velocity　controller　based　on　a　geometric　method　is　designed　with　acceleration　constraint　to　guarantee　the　formation　keeping　performance.　In　addition,　a　proportional　derivative　(PD)　controller　for　acceleration　is　applied　to　smooth　the　velocity　response　of　each　vehicle.　Finally,　simulations　of　5　UAVs　in　different　situations　are　carried　out　to　verify　the　effectiveness　of　the　proposed　method,　both　the　trajectory　tracking　and　formation　keeping　performance　is　as　expected.　©　2018　IEEE.