The engagements he described could well be in November, 1862, the OR mentioning these two closely spaced events. However, I cannot tie what's found in the OR with his CV article.

November 19, 1862. -- Skirmish at Pineville, Mo.
November 25, 1862. -- Skirmish near Cane Hill, Ark.

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And, this is all I can find in the CSMRs on Capt. Roberts

Lafayette Roberts, 3rd Lieutenant, Company C, 4th Regiment Cavalry, 8th Division, Missouri State Guard, elected May 27, 1861, subsequently recorded as a 2nd Lieutenant, no further records, Description, 19 years old, born in Tennessee, resident at Stockton Post Office, Cedar County

M322: Compiled Service Records of Confederate Soldiers Who Served in Organizations from the State of Missouri

.................

Samuel B. Williams, Private, Company F, 3rd Regiment Missouri Cavalry, enlisted May 22, 1864* in Farhnem, Texas by Col. Hunter, for 3 years, captured in Benton County/Coal Camp, Mo. October 23, 1864, admitted Gratiot St., U. S. A. Prison Hospital, St. Louis , Mo November 27, 1864, description: 18 year old Farmer, lives in Red River County, Texas, born in Hopkins County, Ky., participated in the engagements of Lake Village, Ark., Poplar Bluff, Mo., Palosi [sp?], Mo. and Sadelia, Mo.,no further records

Note: There are no company muster rolls recorded in his file and only POW records are found

* Although he claims in the Confederate Veteran article to have enlisted May 25, 1863, his POW records twice record his enlistment as May, 1864. Inasmuch as the last recorded Company F muster roll is for the period Jan/Feb, 1864, it would appear that he enlisted in 1864, not 1863.

M322: Compiled Service Records of Confederate Soldiers Who Served in Organizations from the State of Missouri