Cooperative systems as fleets of unmanned aerial vehicles often use the exchange of information through communication networks to reach an agreement or complete desired tasks. These networks are mainly vulnerable to cyber-attacks which use them to spread malfunctions to all systems in the network. The main contribution of this paper is the design of a resilient strategy such that the UAVs can follow the trajectories of a UAV leader in a consensus despite a type of cyber-attacks. Linear matrix inequalities (LMIs)-based conditions are obtained to guarantee the stability of the consensus against cyber-attacks. The proposed strategy is evaluated through simulations of a fleet of UAV under false-injection data in the inputs as cyber-attacks. A comparison between the proposed resilient strategy and the classical formation control is provided.