In order to solve the problem of communication interaction and collaborative control between heterogeneous unmanned system models, a heterogeneous all-domain unmanned system (HADS) control model is established. The general dynamic model of the heterogeneous global unmanned system is established, and the distributed cooperative control of the global unmanned system is realized by using backstepping method and communication link design. Finally, the stability of the whole closed-loop system is proved, and the effectiveness of the scheme is verified by simulation experiments.