Chapters 3 and 4 present the fixed-time cooperative control algorithm for the velocity and attitude tracking of multiple UAVs, which effectively enhances the convergence speed. However, as for the fixed-time control, the upper bound of convergence time is influenced by the control parameters, making it difficult to set in advance. To address this issue, researchers have proposed the specified-time control method, with the convergence time being arbitrarily set and independent of initial state and control parameters Shao and Chen (IEEE Trans Syst Man Cybern 51(2):742–754, 2021); Zhang et al. (UAV Aerosp Sci Technol 92:55–65, 2019); Chen et al. (Aerosp Sci Technol 105:106028, 2020). This characteristic better meets the explicit requirements of convergence time for multi-UAV system. Therefore, Chap. 5 intends to solve the specified-time control problem for the velocity and attitude tracking of multiple UAVs.