  Superconductivity in heavy-fermion materials can sometimes appear in the
incoherent regime and in proximity to an antiferromagnetic quantum critical
point. Here we study these phenomena using large scale determinant quantum
Monte Carlo simulations and the dynamical cluster approximation with various
impurity solvers for the periodic Anderson model with frustrated hybridization.
We obtain solid evidence for a $d_{x^2-y^2}$ superconducting phase arising from
an incoherent normal state in the vicinity of an antiferromagnetic quantum
critical point. There is a coexistence region and the width of the
superconducting dome increases with frustration. Through a study of the pairing
dynamics we find that the retarded spin-fluctuations give the main contribution
to the pairing glue. These results are relevant for unconventional
superconductivity in the Ce-$115$ family of heavy-fermions.
