Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. An air traffic management (ATM) system is needed to help ensure that this newest entrant into the skies does not collide with others. In an ATM, airspace can be composed of airways, intersections and nodes. In this paper, for simplicity, distributed coordinating the motions of Vertical TakeOff and Landing (VTOL) UAVs to pass an airway is focused. This is formulated as a tunnel passing problem, which includes passing a tunnel, inter-agent collision avoidance and keeping within the tunnel. Lyapunov-like functions are designed elaborately, and formal analysis based on invariant set theorem is made to show that all UAVs can pass the tunnel without getting trapped, avoid collision and keep within the tunnel. What is more, by the proposed distributed control, a VTOL UAV can keep away from another VTOL UAV or return back to the tunnel as soon as possible, once it enters into the safety area of another or has a collision with the tunnel during it is passing the tunnel. Simulations and experiments are carried out to show the effectiveness of the proposed method and the comparison with other methods.

翻译：业余和商务用户现在都越来越容易进入无人驾驶飞行器(无人驾驶飞行器),需要有一个空中交通管理系统来帮助确保这种最新进入天空的物体不会与其他物体发生碰撞。在自动取机中,空域可以由航空通道、交叉点和节点组成。在本文中,为了简单起见,可以分发协调垂直起飞和着陆(VTOL)无人驾驶飞行器(VTOL)的动作,以集中空气通道。这是一个隧道通路的问题,包括通过隧道、机构间碰撞避免和在隧道内保存。像Lyapunov一样的功能设计精细,根据静态设置的定理进行正式分析,以显示所有无人驾驶飞行器都可以通过隧道而不被困,避免碰撞,并留在隧道内。更为重要的是,根据拟议的分布式控制,VTOL无人驾驶飞行器可以远离另一架VTOL无人驾驶飞行器,或尽快返回隧道,一旦进入另一座安全区,或与隧道发生碰撞,正在通过其他地道进行比较。模拟和演示其他方法。