Resilient Distributed Control and Target Tracking in Multiagent Systems Against Composite Attacks

This article copes with the distributed control and target tracking (DCTT) problem in general linear and Lipschitz multiagent systems (MASs). In comparison to the traditional DCTT algorithms that were developed for MASs in ideal conditions, two schemes based upon a resilient protocol are proposed for linear and nonlinear MASs to estimate and track a mobile target where all agents are subject to composite attacks, including camouflage attacks, DoS attacks, sensor attacks, and actuator attacks. Based on the digital twin approach, a twin layer (TL) with high privacy and security is introduced to separate the problem of DCTT into two tasks: 1) handling DoS attacks on the TL and defending against sensor and 2) actuator attacks on the cyber-physical layer (CPL). First, two distributed estimation algorithms are established to reconstruct the agents and target dynamics for every agent on the TL in the presence of DoS attacks. Second, using the reconstructed agents and target dynamics on the TL, a resilient distributed control protocol is designed to resist sensor and actuator attacks on the CPL. The current scheme guarantees the achievement of control and target tracking such that the DCTT error of the proposed design is ultimately bounded in terms of linear matrix inequality. By applying two simulation examples, the presented algorithms are also validated.