<p>In this work, a disturbance-observer-based finite-time following control with wind resistance capability (DO-FTFC-WRC) is designed to rapidly perform an assigned following of multi-UAV in a GPS-denied region, e.g., warehouse, library, factory. The inner-loop PID control in each UAV can improve its control behavior. Without the original nonlinear complex dynamics, its outer loop is modeled by a second-order system with unknown disturbances, including sensor noises, system uncertainties, turbulence caused by ground effect, or extra wind gusts. The desired 3D pose for the leader is assumed to be a virtual leader. Subsequently, followers are one-by-one to execute a time-varying formation by adjusting their relative poses. To realize the task in the presence of disturbances, the suggested DO-FTFC-WRC includes i) equivalent control to tackle the newly designed following task and compensate the estimated disturbance, and ii) switching control with time-varying gain to deal with extra uncertainties for enhancing robust performance. Finally, the simulations and experiments as compared with the nonlinear finite-time following control or the inner-loop PID control with/without extra wind condition for a representative forward, 180 degrees clockwise turning, then backward motions validate the effectiveness and superiority of the proposed DO-FTFC-WRC.</p>