Chapters 3 , 4 , and 5 study the cooperative control problems of multiple UAVs with fixed-time and preset-time convergence, meeting the requirements of rapid convergence for velocity and attitude tracking. In addition to convergence time, factors affecting UAV control performance also include the constraints of actual UAV systems, among which the limitation on actuator response frequency is one of the challenges in studying UAV system constraints. Typically, UAV control systems adopt a time-driven strategy, calculating and implementing control based on fixed-period updates. However, when the state of the UAV system approaches stability, high-frequency controller updates can lead to frequent actuator responses, resulting in unnecessary actuator wear. Therefore, this chapter focuses on how to reduce the frequency of controller updates while ensuring the control performance of multiple UAVs.