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Safety-Critical Space-and-Time-Synchronized Cooperative Formation: Virtual-Structure-Based Framework
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DOI：10.1109/tits.2026.3698086.png)
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Abstract
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This paper proposes a three-dimensional (3D) safety-critical cooperative guidance and control strategy for a group of vehicles aiming at simultaneous formation around a target. First, a reference relative trajectory is constructed using piecewise B<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\acute {e}$ </tex-math></inline-formula>zier curves to define a time-independent spatial path, along which a space-and-time synchronization strategy is employed to ensure that all vehicles reach their designated relative positions simultaneously. Next, the dimensionless residual path and velocity in reference relative motion are taken as coordination variables in the space-and-time-synchronized cooperative guidance, and a distributed coordination strategy with upper and lower bound constraints on path velocity is designed. Finally, fixed-time controllers with integrated extended state observers (ESOs) are designed for kinematic and kinetic systems to track the reference trajectory under control saturation, while safety constraints are enforced via control barrier function (CBF)-based compensation. Numerical simulations demonstrate the effectiveness of the proposed cooperative guidance law.
Keywords:
Three-dimensional cooperative formation
synchronization of space and time
control barrier function
input saturation
fixed-time control
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