Fractional-Order Resilient Control for UAV–USV Cooperation under Actuator Constraints, Signal Attacks, and Wind Gusts


== Abstract ==

<p>The paper presents a resilient dynamic adaptive event-triggered sliding mode control (DAET&ndash;SMC) framework for fractional-order delayed multi-agent systems under actuator saturation, stochastic disturbances, and cyber-attacks. Existing methods often fail to ensure containment and formation stability when multiple practical constraints coexist. The proposed approach leverages Riemann&ndash;Liouville fractional dynamics to capture system memory effects and integrates adaptive compensation to mitigate actuator faults, measurement attacks, and communication delays. Numerical simulations on a 16-agent network with one leader and fifteen followers show that all followers achieve containment within 20 s, with formation errors below 10&minus;2m, while maintaining bounded control effort. Compared with conventional non-adaptive controllers, the proposed method demonstrates faster convergence, superior robustness, and resilience under combined disturbances, achieving up to 35% faster error convergence and maintaining control input within saturation limits. These results confirm the effectiveness of the DAET&ndash;SMC strategy for practical multi-agent coordination in uncertain and constrained environments.OPEN ACCESS Received: 30/10/2025 Accepted: 26/11/2025</p>



== Document ==
<pdf>Media:Draft_Sanchez Pinedo_288896406-9483-document.pdf</pdf>