Shahid Beheshti University International Journal of Research and Technology in Electrical Industry 2821-0190 4 1 2025 05 28 Fixed-Time Containment Tracking Control of Fractional-Order Multi-Vehicle Systems with Multiple Leaders: SMC approach 499 508 105759 10.48308/ijrtei.2025.238781.1076 EN Hossein Zamani The School of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran Vahid Johari Majd The School of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran 0000-0002-0916-842X Khosro Khandani The Department of Electrical Engineering, Faculty of Engineering, Arak University, Arak, Iran Journal Article 2025 02 15 This paper addresses sliding mode control (SMC) design for disturbed fractional-order multi-vehicle networks in order to achieve containment tracking within a certain settling time. The multi-leader case is investigated where the aim of the containment protocol design is that the states of the fractional-order followers eventually are placed inside a convex hull made by the states of the leaders. The convergence rate is designed such that achieving the containment tracking occurs in a fixed-time manner. Unlike the previous works on finite-time containment control protocols of multi-agent systems, here, we offer a tractable design as the upper limit of the settling time of the convergence is achieved independent of the preliminary conditions of the vehicles' states. A novel SMC approach is proposed which enables the multi-vehicle network to reach the containment tracking at presence of the external disturbances. The numerical simulations reveal the correctness and effectiveness of the proposed theoretical approaches. https://ijrtei.sbu.ac.ir/article_105759_cd76c8e59ea37c01272c1862ecef8f00.pdf