This brief is concerned with the formation control problem of a multi-agent system composed of multiple quadrotors tasked to achieve aggressive trajectory tracking with prescribed formation patterns. An underactuated model with six degrees of freedom is considered for each quadrotor, the dynamics of which account for nonlinearities, parameter uncertainties, and external disturbances. A robust control approach is proposed that stems from linear quadratic regulation and robust compensation theory fundamentals. Theoretical analysis and simulation results validate the effectiveness of the presented theoretical framework. (C) 2019 Elsevier Ltd. All rights reserved.