多源风险因素下多无人机分布式安全协同控制

doi:10.7527/S1000-6893.2025.33010

Abstract

Abstract:

Multi-UAV systems performing the task of transporting material with cable-suspended payloads in complex environments are susceptible to multi-source risk factors such as external disturbances and obstacles. To solve this problem， this paper proposes a risk-triggered distributed safety cooperative control method. Firstly， the disturbance caused by cable-suspended payloads is modeled and characterized， and a disturbance observer is designed to realize accurate estimation. Subsequently， considering comprehensively the stochastic uncertainties including position tracking， state estimation and obstacle perception， the coupled collision risk is quantitatively calculated based on Conditional Value-at-Risk （CVaR）. Finally， a safety threshold is designed to evaluate the collision risk. Combined with robust formation control， collision avoidance strategy and disturbance compensation mechanism， a risk-triggered distributed safe cooperative controller is constructed. The effectiveness of the proposed method is verified through flight experiments and simulation tests. The results show that the proposed method significantly improves the control accuracy of multi-UAV systems under cable-suspended payload disturbances and the safety in complex environments， while maintaining low conservatism of obstacle avoidance.

Key words: multi-UAV systems, risk quantification, safety collision avoidance control, anti-disturbance control, distributed cooperative control

CLC Number:

V249.1

Bin YANG, Jun BIAN, Jianchun ZHANG, Kexin GUO, Yi YANG. Distributed safety cooperative control for multiple UAVs under multi-source risks[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(S1): 733010.

Figures/Tables 16

Fig.1

Table 1

Nomenclature of UAV system model

符号	物理含义	单位
$m ∈ R$	总质量	$k g$
$p i = [x i, y i, z i] T ∈ R 3$	位置向量	$m$
$v i = [v x, v y, v z] T ∈ R 3$	速度向量	$m / s$
$a = v ˙ ∈ R 3$	加速度向量	$m / s 2$
$F ∈ R$	沿 $z b$ 轴的总推力	$N$
$J ∈ R 3 × 3$	转动惯量矩阵	$k g ⋅ m 2$
$ω ∈ R 3$	角速度	$r a d / s$
$τ ∈ R 3$	扭矩向量	$N ⋅ m$

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Table 2

Simulation test parameter settings

参数	数值
$δ 1$	0.3
$δ 2$	0.3
$k s 1$	18
$k s 2$	18
$k f$	1
$k s j$	1
$k s k$	1
$k s 3$	85
$D p$	5
$D i j, s$	0.1
$D i k, s$	0.35
$k 1$	1.8
$k 2$	0.6

Table 2

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

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Distributed safety cooperative control for multiple UAVs under multi-source risks

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