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This paper studies the distributed resilient output containment control ofheterogeneous multiagent systems against composite attacks, includingdenial-of-services (DoS) attacks, false-data injection (FDI) attacks,camouflage attacks, and actuation attacks. Inspired by digital twins, a twinlayer (TL) with higher security and privacy is used to decouple the aboveproblem into two tasks: defense protocols against DoS attacks on TL and defenseprotocols against actuation attacks on cyber-physical layer (CPL). First,considering modeling errors of leader dynamics, we introduce distributedobservers to reconstruct the leader dynamics for each follower on TL under DoSattacks. Second, distributed estimators are used to estimate follower statesaccording to the reconstructed leader dynamics on the TL. Third, according tothe reconstructed leader dynamics, we design decentralized solvers thatcalculate the output regulator equations on CPL. Fourth, decentralized adaptiveattack-resilient control schemes that resist unbounded actuation attacks areprovided on CPL. Furthermore, we apply the above control protocols to provethat 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 proposedcontrol protocols.

Resilient Output Containment Control of Heterogeneous Multiagent Systems Against Composite Attacks: A Digital Twin Approach