多无人机系统在复杂环境执行绳系负载物资搬运任务时，易受外部干扰和障碍物等多源风险因素影响。针对该问题，本文提出一种基于风险触发的分布式安全协同控制方法。首先对绳系负载干扰进行建模表征，并设计干扰观测器实现精确估计；随后综合考虑位置跟踪、状态估计及障碍物感知等随机不确定性，基于条件风险价值对耦合碰撞风险进行量化计算；最后设计安全阈值评估碰撞风险，并结合鲁棒编队控制、避撞策略及干扰补偿机制，构建基于风险触发的分布式安全协同控制器。通过飞行实验与仿真测试验证了所提方法的有效性，结果表明，该方法显著提升了多无人机系统在绳系负载干扰下的控制精度与复杂环境中的安全性，同时保持较低的避障保守性。

Multi-UAV systems transporting cable-suspended payloads in complex environments face multi-source risks from disturbances and obstacles. This paper proposes a risk-triggered distributed safety cooperative control method. The payload-induced disturbance is modeled and estimated via a disturbance observer. Collision risk, accounting for uncertainties in tracking, state estimation, and obstacle perception, is quantified using conditional value-at-risk. The proposed controller integrates robust formation control, collision avoidance, and disturbance compensation. Simulations and flight tests demonstrate improved control accuracy under payload disturbances and enhanced safety in complex environments, with reduced obstacle-avoidance conservatism.