Non-fragile control for resilient consensus of fractional-order multi-agent systems with uncertainty and time delay in Riemann-Liouville sense

Abstract

This paper establishes leader-following consensus ($\lf$) for fractional-order multi-agent systems ($\fo$) under Riemann-Liouville ($\rl$) framework, addressing model uncertainties, external disturbances, and communication time delays. We propose a non-fragile control framework leveraging directed weighted graphs to derive algebraic consensus criteria. By integrating Lyapunov stability theory with algebraic graph techniques, our approach explicitly quantifies robustness against simultaneous uncertainties and delays in dynamic environments. The framework demonstrates its effectiveness through a numerical simulation which prove its ability to establish consensus among complex systems while operating under uncertain conditions and disturbances in addition to delays.