<p>This paper addresses the problem of cooperative attack by a ground-stationary quadrotor UAV swarm on aerial targets. The quadrotor cooperative integrated guidance and control (QCIGC) model is formulated using the UAV-target relative kinematics and quadrotor dynamics. On this basis, QCIGC scheme is proposed. The scheme adopts a nested control structure, where the outer-loop controls the line-of-sight (LOS) angle and impact time, while the inner loop focuses on attitude stabilization control. Innovatively, a time-base generator function is employed to generate the LOS angle tracking command, while an exponentially decaying function is utilized to shape the LOS velocity tracking command, effectively alleviating the overload saturation problem during the initial guidance phase. To handle the total disturbance caused by external interference and target maneuvering, a predefined-time disturbance observer is designed. For impact time control, a two-stage control scheme is designed. The first stage achieves predefined-time stable LOS velocity control, while the second stage realizes predefined-time stable time-coordination control, aiming to maximize the UAV’s impact speed and ensure simultaneous target impact. For both the LOS angle control and the attitude control, a predefined-time stable terminal sliding mode control scheme is adopted, significantly improving the convergence speed. The stability of the subsystems within the predefined-time is proven using Lyapunov theory. The comparative experimental results fully demonstrate the superior performance of the proposed method in terms of saturation suppression, cooperative capability, and convergence speed.</p>