Distributed fuzzy adaptive cooperative strategy considering communication delay and multiple constraints

In order to enhance penetration and damage ability of targets under multi-constraint conditions, a distributed fuzzy adaptive cooperative strategy was proposed to networked guided projectiles for operation considering communication delay. Aiming at the measurement limitation of the line of sight (LOS) angular rate, the extended state observer was designed to estimate the LOS angular rate and disturbance accurately and quickly. For overcoming communication delay, based on cooperative consistency theory and integral sliding mode control, the distributed control quantity in the LOS direction was designed to converge hit time in limited time. In the normal direction of LOS, the nonsingular terminal sliding mode with an exponential adaptive reaching law was designed to ensure rapid convergence of the LOS angular rate using remaining flight time. In order to weaken the negative influence of sliding mode high-frequency chattering on the system, the fuzzy adaptive controller with a universal approximation was introduced. Finally, by constructing the Krasovskii function and Lyapunov stability theory, it was proved that the whole system was uniformly ultimately bounded. Simulation results indicated that the strategy possessed better cooperative performance against the maneuvering target and made networked guided projectiles adapt to communication delay and multiple constraints better, compared with the existing methods.