Abstract: An adaptive distributed cooperative guidance strategy is proposed to improve the penetration ability and damage effect of shipborne gun guided projectiles, and to enable multiple projectiles to organize and cooperate in complex combat environment by themselves. An extended state observer with fast and accurate observation performance is designed to overcome external interference and constraints in the measurement of line of sight and angular velocity caused by the spin of projectiles. To address the problem of uncertain communication delay, a distributed controller in the direction of the line of sight is designed based on the cooperative consistency theory and integral sliding mode, which could converge the attack time within a limited time period. To eliminate the tracking error of the line of sight angle and line of sight angular rate in a certain time period, adaptive controllers using a nonsingular terminal sliding mode are installed along the normal and lateral directions of the line of sight based on the remaining flight time. Based on the Lyapunov theory and the Lyapunov-Krasovskii functional, it is proved that system is uniformly and ultimately bounded. Compared with existing research, experimental results reveal that this strategy improves the cooperative guidance performance of a projectile cluster against moving targets in a complex combat environment.

Key words: guidedprojectile, complexcombatenvironment, adaptivecontrol, distributedcooperativestrategy