This　paper　develops　a　distributed　safety-critical　predefined-time　control　method　for　the　3-dimensional　(3D)　moving　target　surrounding　problem　of　multiple　UAVs.　A　new　3D　surrounding　shape　is　first　formulated　for　multiple　UAVs　to　distribute　on　a　moving　spherical　surface　around　the　target.　To　reduce　the　communication　and　load　burden,　a　predefined-time　distributed　estimator　is　designed　for　a　subset　of　UAVs　without　any　access　to　the　target,　so　that　the　target's　motion　information　can　be　accurately　estimated　within　a　predefined　time.　Subsequently,　a　robust　safety-constrained　predefined-time　control　law　is　designed　with　a　twofold　structure,　where　the　nominal　control　term　guarantees　the　predefined-time　convergence　under　the　safety　constraints,　and　the　adjunctive　control　term　overcomes　the　influence　of　disturbances.　A　new　dynamic　parameter-based　predefined-time　control　method　is　proposed,　which　can　relax　the　unnecessary　requirement　of　control　design　for　achieving　predefined-time　convergence.　The　corresponding　dynamic　parameter-based　predefined-time　control　Lyapunov　function　(DPP-CLF)　is　constructed　together　with　second-order　control　barrier　function　(SCBF)　to　map　the　convergence　requirement　and　safety　constraints　on　states　to　constraints　on　control　inputs.　The　nominal　control　term　is　obtained　by　minimizing　the　control　inputs　under　constraints　with　linear　programming.　The　adjunctive　control　term　is　acquired　by　combining　a　filter-based　estimator　and　an　integral　sliding　mode　surface　design,　providing　an　accurate　compensation　for　the　disturbances.　The　theoretical　analysis　and　simulation　results　demonstrate　the　predefined-time　stability　and　collision　avoidance　performance　of　the　multi-UAV　system.　IEEE