  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.
