This paper studies the distributed resilient output containment control of heterogeneous multiagent systems against composite attacks, including denial-of-services (DoS) attacks, false-data injection (FDI) attacks, camouflage attacks, and actuation attacks. Inspired by digital twins, a twin layer (TL) with higher security and privacy is used to decouple the above problem into two tasks: defense protocols against DoS attacks on TL and defense protocols against actuation attacks on cyber-physical layer (CPL). First, considering modeling errors of leader dynamics, we introduce distributed observers to reconstruct the leader dynamics for each follower on TL under DoS attacks. Second, distributed estimators are used to estimate follower states according to the reconstructed leader dynamics on the TL. Third, according to the reconstructed leader dynamics, we design decentralized solvers that calculate the output regulator equations on CPL. Fourth, decentralized adaptive attack-resilient control schemes that resist unbounded actuation attacks are provided on CPL. Furthermore, we apply the above control protocols to prove that the followers can achieve uniformly ultimately bounded (UUB) convergence, and the upper bound of the UUB convergence is determined explicitly. Finally, two simulation examples are provided to show the effectiveness of the proposed control protocols.

翻译：本文研究了异构多智能体系统在复合攻击（包括拒绝服务攻击、虚假数据注入攻击、伪装攻击和执行器攻击）下的分布式弹性输出包含控制问题。受数字孪生启发，采用具有更高安全性和隐私性的孪生层将上述问题解耦为两个任务：孪生层上针对拒绝服务攻击的防御协议，以及网络物理层上针对执行器攻击的防御协议。首先，考虑领导者动力学建模误差，我们引入分布式观测器在拒绝服务攻击下的孪生层上为每个跟随者重构领导者动力学。其次，使用分布式估计器基于孪生层上重构的领导者动力学估计跟随者状态。第三，根据重构的领导者动力学，在网络物理层上设计计算输出调节器方程的解耦求解器。第四，在网络物理层上提供抵抗无界执行器攻击的分布式自适应抗攻击控制方案。此外，我们应用上述控制协议证明跟随者能实现一致最终有界收敛，并明确给出一致最终有界收敛的上界。最后，通过两个仿真示例验证所提出控制协议的有效性。