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With the rapid development of microelectronic technology and digital communication technology, UAV formation has been applied to many fields. Aiming at UAV formation maintenance and energy consumption, a consensus-based formation control scheme based on dynamic role assignment is proposed. A feedback linearized attitude controller is designed according to the kinematic model of UAV. On this basis, a consensus-based formation control algorithm is designed based on leader-follower pattern, which improves the robustness of the formation system. At the same time, a dynamic role assignment control method based on Hungarian algorithm is designed to enable multiple UAVs to reformulate formation plans and determine the positions of UAVs according to the specific surrounding environment during the execution of tasks, so as to reduce the execution cycle of tasks and reduce the overall energy consumption. The formation flight simulation analysis was carried out to take the formation of five UAVs as an example. The simulation results show that the Dynamic role assignment control for UAV consensus-based formation control algorithm ensures the control accuracy and robustness of the formation control system, and effectively reduces the overall energy consumption.