<p>This paper investigates a human-in-the-loop (HiTL) adaptive predefined-time formation control design with self-triggered communication for multiple quadrotor unmanned aerial vehicles subject to asymmetric full-state constraints and actuator faults. First, the constrained vehicle dynamics are converted to unconstrained ones by constructing a universal nonlinear transformation function, where the feasibility condition restrictions inherent in traditional barrier/integral barrier Lyapunov functions are eliminated. Then, the HiTL control strategy is integrated into the formation design framework, which ensures that human decision-making can be directly applied to the non-autonomous leader, thereby enhancing the flexibility and adaptability of the controlled vehicles. Moreover, a self-triggered predefined-time formation control protocol is designed to allow non-periodic and on-demand updates of control signals without monitoring behaviour. Rigorous theoretical analysis indicates that the closed-loop attitude and position subsystems are practically predefined-time stable, and the formation tracking errors converge to the neighborhood around the origin within a pre-specified time while strictly adhering to asymmetric state constraints. Finally, comprehensive illustrative results validate the effectiveness of the proposed control scheme.</p>