CJA 中文

导航

Academic Quality
Advertising Services   |
Subscriptions   |
中文 CJA

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2026 , Vol. 47 >Issue S1: 733010 - 733010

DOI: https://doi.org/10.7527/S1000-6893.2025.33010

Swarm Intelligence and Cooperative Control

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

  • Bin YANG ,
  • Jun BIAN ,
  • Jianchun ZHANG ,
  • Kexin GUO ,
  • Yi YANG
Expand
  • 1.Hangzhou Innovation Institute，Beihang University，Hangzhou 310051，China
    2.School of Reliability and Systems Engineering，Beihang University，Beijing 100191，China
    3.School of Automation Science and Electrical Engineering，Beihang University，Beijing 100191，China
    4.School of Aeronautic Science and Engineering，Beihang University，Beijing 100191，China
    5.Peng Cheng Laboratory，Shenzhen 518055，China
E-mail： zhangjianchun@buaa.edu.cn

Received date: 2025-10-31

  Revised date: 2025-11-13

  Accepted date: 2025-12-15

  Online published: 2025-12-25

Supported by

Pioneer and Leading Goose R&D Program of Zhejiang(2025C01053);National Natural Science Foundation of China(62473031);Zhejiang Provincial Natural Science Foundation(LZ24F030008)

Fold

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

Cite this article

Bin YANG , Jun BIAN , Jianchun ZHANG , Kexin GUO , Yi YANG . Distributed safety cooperative control for multiple UAVs under multi-source risks[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2026 , 47(S1) : 733010 -733010 . DOI: 10.7527/S1000-6893.2025.33010

References

[1] FLOREANO D， WOOD R J. Science， technology and the future of small autonomous drones［J］. Nature， 2015， 521（7553）： 460-466.
[2] MCGUIRE K N， DE WAGTER C， TUYLS K， et al. Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment［J］. Science Robotics， 2019， 4（35）： eaaw9710.
[3] CHUNG S J， PARANJAPE A A， DAMES P， et al. A survey on aerial swarm robotics［J］. IEEE Transactions on Robotics， 2018， 34（4）： 837-855.
[4] JAVED S， HASSAN A， AHMAD R， et al. State-of-the-art and future research challenges in UAV swarms［J］. IEEE Internet of Things Journal， 2024， 11（11）： 19023-19045.
[5] 郭洪振， 陈谋. 基于预设性能的四旋翼无人机编队安全控制［J］. 航空学报， 2021， 42（8）： 525789.
  GUO H Z， CHEN M. Safety formation control of quadrotor UAVs based on prescribed performance［J］. Acta Aeronautica et Astronautica Sinica， 2021， 42（8）： 525789 （in Chinese）.
[6] 付俊杰， 林潇坤， 温广辉. 基于高阶控制障碍函数的多固定翼无人机鲁棒避障安全编队跟踪控制［J］. 机器人， 2025， 47（1）： 85-98.
  FU J J， LIN X K， WEN G H. Robust obstacle avoidance and safe formation tracking control for multiple fixed-wing UAVs based on high-order control barrier functions［J］. Robot， 2025， 47（1）： 85-98 （in Chinese）.
[7] 郭雷， 余翔， 张霄， 等. 无人机安全控制系统技术： 进展与展望［J］. 中国科学（信息科学）， 2020， 50（2）： 184-194.
  GUO L， YU X， ZHANG X， et al. Safety control system technologies for UAVs： Review and prospect［J］. Science in China （Information Sciences）， 2020， 50（2）： 184-194 （in Chinese）.
[8] 郭雷， 朱玉凯， 乔建忠， 等. 无人系统生存智能与安全、免疫、绿色控制技术［J］. 航空学报， 2022， 43（10）： 527129.
  GUO L， ZHU Y K， QIAO J Z， et al. Survival intelligence and safety， immunity and green control technologies for unmanned systems［J］. Acta Aeronautica et Astronautica Sinica， 2022， 43（10）： 527129 （in Chinese）.
[9] GUO L， LI W S， ZHU Y K， et al. Composite disturbance filtering： A novel state estimation scheme for systems with multisource， heterogeneous， and isomeric disturbances［J］. IEEE Open Journal of the Industrial Electronics Society， 2023， 4： 387-400.
[10] CUI Y Y， QIAO J Z， ZHU Y K， et al. Velocity-tracking control based on refined disturbance observer for gimbal servo system with multiple disturbances［J］. IEEE Transactions on Industrial Electronics， 2022， 69（10）： 10311-10321.
[11] ZHU Y K， ZHU B P， CUI Y Y， et al. Two-step input excitation disturbance estimation-based self-adjustment control for spacecrafts with multiplicative uncertainties［J］. IEEE Transactions on Aerospace and Electronic Systems， 2025， 61（1）： 374-388.
[12] YU X， ZHANG Y M. Sense and avoid technologies with applications to unmanned aircraft systems： Review and prospects［J］. Progress in Aerospace Sciences， 2015， 74： 152-166.
[13] YANG B， ZHANG J C， XU L D， et al. Cooperative warning and risk-averse safety control for multiple UAVs［J］. IEEE Transactions on Industrial Informatics， 2025， 21（5）： 4262-4272.
[14] YANG B， ZHANG J C， BIAN J， et al. CVaR-constrained safety cooperation for multiple UAVs with risk prediction［J］. IEEE Internet of Things Journal， 2025， 12（18）： 39008-39018.
[15] WANG J H， ZHOU S C， XU L D， et al. Covert attack detection and resilient control of quadcopter［J］. IEEE Transactions on Industrial Informatics， 2025， 21（5）： 3924-3933.
[16] REN H R， CHENG Z J， QIN J H， et al. Deception attacks on event-triggered distributed consensus estimation for nonlinear systems［J］. Automatica， 2023， 154： 111100.
[17] GUO X Y， WANG C L， DONG Z， et al. Secure state estimation for nonlinear systems under sparse attacks with application to robotic manipulators［J］. IEEE Transactions on Industrial Electronics， 2023， 70（8）： 8408-8415.
[18] GUO X Y， WANG C L， DONG Z， et al. Adaptive containment control for heterogeneous MIMO nonlinear multiagent systems with unknown direction actuator faults［J］. IEEE Transactions on Automatic Control， 2023， 68（9）： 5783-5790.
[19] JIANG Q M， KUMAR V. The inverse kinematics of cooperative transport with multiple aerial robots［J］. IEEE Transactions on Robotics， 2013， 29（1）： 136-145.
[20] DONG X W， LI Y F， LU C， et al. Time-varying formation tracking for UAV swarm systems with switching directed topologies［J］. IEEE Transactions on Neural Networks and Learning Systems， 2019， 30（12）： 3674-3685.
[21] GUO K X， LIU C， ZHANG X， et al. A bio-inspired safety control system for UAVs in confined environment with disturbance［J］. IEEE Transactions on Cybernetics， 2024， 54（2）： 1308-1320.
[22] SHE X H， MA H， REN H R， et al. Vision-based adaptive prescribed-time control of UAV for uncooperative target tracking with performance constraint［J］. Journal of Systems Science and Complexity， 2024， 37（5）： 1956-1977.
[23] 郭雷， 李文硕， 崔洋洋， 等. 动态闭环不确定性量化理论与智能无人系统应用［J］. 中国科学（技术科学）， 2025， 55（1）： 1-13.
  GUO L， LI W S， CUI Y Y， et al. Dynamic closed-loop uncertainty quantification theory with intelligent unmanned systems applications［J］. Scientia Sinica Technologica， 2025， 55（1）： 1-13 （in Chinese）.
[24] GUO L， CHEN W H. Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach［J］. International Journal of Robust and Nonlinear Control， 2005， 15（3）： 109-125.
[25] SORIA E， SCHIANO F， FLOREANO D. Predictive control of aerial swarms in cluttered environments［J］. Nature Machine Intelligence， 2021， 3（6）： 545-554.
[26] SORIA E， SCHIANO F， FLOREANO D. Distributed predictive drone swarms in cluttered environments［J］. IEEE Robotics and Automation Letters， 2022， 7（1）： 73-80.
[27] QI J T， GUO J J， WANG M M， et al. Formation tracking and obstacle avoidance for multiple quadrotors with static and dynamic obstacles［J］. IEEE Robotics and Automation Letters， 2022， 7（2）： 1713-1720.
[28] WU J， LUO C B， LUO Y， et al. Distributed UAV swarm formation and collision avoidance strategies over fixed and switching topologies［J］. IEEE Transactions on Cybernetics， 2022， 52（10）： 10969-10979.
[29] YANG B， LI H Y， YAO D Y， et al. DO-based adaptive consensus control for multiple MUAVs with dynamic constraints［J］. IEEE Transactions on Systems， Man， and Cybernetics： Systems， 2023， 53（4）： 2387-2398.
[30] GUO K X， JIA J D， YU X， et al. Multiple observers based anti-disturbance control for a quadrotor UAV against payload and wind disturbances［J］. Control Engineering Practice， 2020， 102： 104560.
[31] LEI Y， WANG Y W， MOR?RESCU I C， et al. Event-triggered fixed-time stabilization of two time scales linear systems［J］. IEEE Transactions on Automatic Control， 2023， 68（3）： 1722-1729.
[32] YAO D Y， WU Y Y， REN H R， et al. Event-based adaptive sliding-mode containment control for multiple networked mechanical systems with parameter uncertainties［J］. IEEE Transactions on Automation Science and Engineering， 2025， 22： 264-275.
[33] REN H R， LIU Z Y， LIANG H J， et al. Pinning-based neural control for multiagent systems with self-regulation intermediate event-triggered method［J］. IEEE Transactions on Neural Networks and Learning Systems， 2025， 36（4）： 7252-7262.
Options
Outlines

/

〈 〉

Address: No.238, Baiyan Buiding, Beisihuan Zhonglu Road, Haidian District, Beijing, China

Postal code : 100083

E-mail：hkxb@buaa.edu.cn

Total visits: 6658907 Today visits: 1341All copyright © editorial office of Chinese Journal of Aeronautics

All copyright © editorial office of Chinese Journal of Aeronautics

Total visits: 6658907 Today visits: 1341