Resilient Output Containment of Heterogeneous Cooperative and Adversarial Multigroup Systems

This note introduces a new concept of cooperative and adversarial multigroup system, which consists of cooperative leaders and followers, as well as adversaries. For example, cooperation of multiple military vehicles operate in complex dynamic networked environments with unknown enemies and hidden malicious attackers. The lack of global situational awareness in distributed settings makes autonomous vehicles prone to cyberattacks and infiltration. Each agent is unaware of the motives of its neighbors and may receive information/data from both the teammates and the adversaries. Secure and resilient control protocols are essential for the networked multigroup systems to prevent the adversaries' attacks from propagating across the network, which may influence the system performance and even overall stability. To counter sensor faults and attacks from the adversaries, a distributed resilient control architecture is proposed, which guarantees uniform ultimate boundedness of the closed-loop dynamical system. Numerical simulations illustrate the effectiveness of the proposed results.