<p>This paper delves into the cooperative attitude control issue concerning multiple quadrotor UAVs (QUAVs) considering matching disturbances, with particular emphasis on predefined-time control scheme. Initially, since the leader is only accessible to a subset of the group members, a predefined-time distributed estimator is put forward to precisely acquire the desired attitude of each QUAV. Subsequently, a sliding surface is constructed based on real-time data obtained from the estimator to ensure the sliding mode phase is achieved within the predefined time. Following this, another predefined-time distributed sliding mode control (SMC) protocol is developed to guarantee that the attitude tracking error of the closed-loop system converges to zero within the predefined time. Finally, the effectiveness of the proposed control protocol is validated through simulation experiments.</p>