It is difficult for a single UAV to attack high-value targets with tight air-defense system.To solve the problemthis paper adopts a saturation attack technology applied to low-cost UAV swarmand proposes a three-stage saturation attack strategy with consensus under cooperative control.Based on the characteristics of tasks at different stagesthe improved consensus algorithm is designed correspondingly for each phase.On the basis of UAV cooperation under multiple conditions in saturation attack tasksDubins curve is introduced to add flight trajectory constraintsso as to smooth UAV flight trajectory and shorten the flying distance.In the mission scenario of high-precision formation keepingan improved second-order consensus controller is designed to ensure flight precision and speed up convergence.Finallythe actual effects of the improved algorithm at each stage is compared with that of the traditional algorithm to verify its effectiveness and extensibility.Simulation results show that the algorithm can be applied to large-scale UAV swarm with satisfying effectswhich provides a basis and reference for the decision makingdeployment and tactical implementation of saturation attack strategies.