Revision as of 09:59, 19 December 2025

Abstract

The paper presents a resilient dynamic adaptive event-triggered sliding mode control (DAET–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–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 10−2m, 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–SMC strategy for practical multi-agent coordination in uncertain and constrained environments.OPEN ACCESS Received: 30/10/2025 Accepted: 26/11/2025

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