This paper considers the consensus tracking synthesised with transient performance improvement problem for a network of unmanned aerial vehicles with faults. In practical situations, the parameter variations, modelling errors and disturbances are of particular interest. Thus, it is assumed that the dynamics of vehicles are subject to parameter uncertainty. As the main contribution of this paper, a set of fault-estimator-based protocols is proposed to drive the overall network performance below the given H-infinity synthesised with transient performance index. Sufficient conditions for designing the protocols which utilise the relative output information among neighbouring vehicles are given by applying the robust control theory. Simulations are performed to validate the proposed results.