Aiming at the space-time cooperative problem of UAV swarm attacking moving targets on the sea surfacea designated time cooperative control method is proposed.The relative motion between each UAV and its neighbors is transformed into an optimal tracker with a specified end time.Different quadratic cost functions are designed for the two control objectives with the specified time parametersnamelystrike configuration generation and strike configuration maintenance.By solving the control law by Runge Kutta methodthe UAV cluster can be driven to accurately generate the strike configuration at the specified timerealize simultaneous strikeand maintain the strike configuration in the subsequent specified time periodso as to realize continuous strike.The simulation results show that the UAV cluster can generate and keep the desired formation configuration at the specified momentand track the moving target.