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Cooperative control strategy can support coordinated attack for multi-UAV in threat environment, and achieve the greatest combat effectiveness with time constraint. It is a crucial problem with significant theoretical value and great practical value. Firstly, a cooperative path planning based expanded Voronoi diagram was proposed. The threat environments considered different types of threats and no-fly zones with different threat distances. Line-of-sight of path shortening algorithm and smoothing algorithm were proposed to realize dynamic optimization of the paths. Secondly, time error signal was obtained from real time-to-go and the estimated time-to-go by adopting a simple online time-to-go estimation method. Dynamic path planning on the basis of the estimated path was done to satisfy the impact time constraint. At last, simulation results proved validity and real-time. This method can support cooperative attack for multi-UAV.

Adaptive dynamic sliding mode control strategy for the overload control of anti-ship missiles using Lyapunov stability theory is proposed. The internal dynamics of the system is stabilized based on the output-redefinition technique firstly, then an adaptive method is adopted to attenuate the uncertainties; and a dynamic sliding mode controller is applied which makes the sliding mode switching function is relative to the first order derivative of the control input, and the continuous dynamic sliding mode control law in itself is gained, so the chattering is eliminated. The simulation shows validity of the proposed method.

Adaptive fuzzy sliding mode control strategy for the overload control of anti-ship missiles using Lyapunov's stability theory is proposed. The internal dynamics of the system is stabilized based on the output-redefinition technique firstly, then an adaptive controller is adopted to attenuate the unknown parameters and uncertainties; and a sliding mode controller is applied to guarantee the robustness of the system. Because the switching term in the sliding mode control can cause the chattering phenomenon, a fuzzy controller is adopted to adjust it. The three controllers compose the integrated controller for the uncertain missile system. The simulation shows validity of the proposed method.

In order to achieve the tactical mission of attacking the target on the appointed direction, the characteristics of maneuver target was analyzed, and a variable structure guidance law with constraints on impact angle, based on the 3-D relative motion model of missile and target, was presented in the point of view of engineering application. The guidance law is simple and can be implemented conveniently with little target information. In the guidance law, the distance between missile and target, and their relative velocity, which is difficult to measure, were substituted by estimation values. The estimation errors, the target's velocity, and the target's maneuver acceleration are all treated as bounded disturbance. And all these disturbances can be successfully restrained by choosing the appropriate parameters of guidance law. The performance of the guidance system was analyzed theoretically, and the numerical simulation result shows the validity and effectiveness of the proposed guidance law.