To solve the problem of time-varying quadrotor formation tracking control under the condition of directional topology switching,a consensus control protocol based on special orthogonal group SO(3) under performance constraints is constructed by using the leader-follower strategy and local neighbors'state information.In this protocol,the information of the leader UAV can only be given to the neighbor UAVs,and the set of neighbor UAVs will change.The rotation matrix in the special orthogonal group SO(3) space is used to characterize the attitude of the quadrotor,and an attitude controller is designed based on this to accelerate the convergence of formation control.The experimental results show that when the dwelling time of switching the directional topology is greater than the fixed threshold and the feasibility conditions of time-varying formation tracking control are met,the multi-UAV system can realize the time-varying formation control by using the designed control law,which verifies the effectiveness of the proposed algorithm.