<p>This paper investigates the fault-tolerant formation-containment control problem for unmanned aerial vehicles (UAVs) in the presence of sensor faults. With the aid of the nonlinear programming algorithm, the safe path with parameter optimization is planned to prevent the whole multi-UAV system from colliding with obstacles. Then, based on the communication topology and safe path, two types of trajectory generators are designed to provide the desired trajectories for the leader UAVs and the follower UAVs. Meanwhile, a nonlinear observer is constructed to estimate actual flight states and sensor fault information of each UAV, the gains of which can be given by the linear matrix inequality (LMI) solution. Combining the fully actuated system approach and prescribed performance control method, the fault-tolerant formation-containment controller is designed, guaranteeing the Lyapunov stability of the tracking errors. Finally, the simulation results are provided to demonstrate the effectiveness of the proposed control strategy.</p>