This paper investigates an adaptive dynamic programming (ADP) optimal tracking control algorithm for multi-UAV systems based on zero-sum game theory, addressing external disturbances during flight. By formulating the bounded [Formula: see text] gain problem as a two-person zero-sum game between control strategies and external disturbances, the Hamilton-Jacobi-Isaacs (HJI) equation is constructed to derive the Nash equilibrium solution. To overcome the computational challenges of solving the HJI equation, a three-l…