Chapter 3 presents the fixed-time cooperative control algorithm for the velocity and attitude tracking of multiple UAVs. This method effectively enhances the convergence speed while addressing the issue of state constraints. In addition to state constraints, the phenomenon of input saturation is commonly encountered in UAV systems due to the physical limitations of actuators, which plays a crucial role in the safety and stability of multi-UAV flight. Therefore, on the basis of the fixed-time control strategy in Chap. 3 , this chapter investigates the fixed-time control problem for the velocity and attitude tracking of multiple UAVs in the presence of input saturation.