Singular perturbations easily cause the problem of high gain control (HGC) of a multiagent quadrotor system (MAQS), that easily excite hazardous high-frequency oscillations in the system states. Without HGC, this work studies the distributed fixed-time attitude consensus control problem of multiple heterogeneous quadrotors in presence of unknown Lipschitz input disturbances and directed topology. First, the second order sliding mode, composed of consensus errors of 'slow' Euler angles and 'fast' angular velocities…