Resilient state containment of multi-agent systems against composite attacks via output feedback: A sampled-based event-triggered hierarchical approach

In this paper, we investigate the distributed resilient output-feedback containment problem of linear multi-agent systems (MASs) with a dynamic Luenberger observer under composite attacks, including denial of service (DoS) attacks, false-data injection (FDI) attacks, camouflage attacks (CAs), and actuation attacks (AAs). By using the digital twin framework, a twin layer (TL) is introduced for the cyber-physical layer (CPL), which decomposes the problem of the composite attack into a DoS attack on the TL and an unknown AAs on the CPL for analysis and countermeasures. A sampled-based event-triggered control protocol is employed to save the communication resources of MASs. To achieve the goal of containment control under the DoS attack, a backup topology is employed to repair the communication channels that have been compromised by the DoS attacks. Then, a new adaptive controller is proposed to synchronize the MASs with a polluted communication network caused by unbounded AAs. This controller can eliminate the chattering phenomenon of the system and enable the containment error among the agents to reach a uniformly ultimately bounded (UUB) convergence. Finally, the practicality and effectiveness of the theoretical results are verified through simulations.