This paper investigates the finite time simultaneous attack problem for a maneuvering target with unknown acceleration when the multiple attackers move slower than the target at the initial stage under a communication network having a spanning tree. Attackers can reach agreement before the precise strike when the upper bound on time to consensus is calculated beforehand. The unknown acceleration of the target can be estimated by a disturbance observer, and a cooperation protocol is designed to decrease chattering. Numerical simulations with comparisons demonstrate the effectiveness and the superiority of the proposed method.
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