A Survey of Resilient Coordination for Cyber–Physical Systems Against Malicious Attacks

Cyber–physical systems (CPSs) facilitate the integration of physical entities and cyber infrastructures through the utilization of pervasive computational resources and communication units, leading to improved efficiency, automation, and practical viability in both academia and industry. Due to its openness and distributed characteristics, a critical issue prevalent in CPSs is to guarantee resilience in the presence of node injection attack. This survey provides a detailed and comprehensive overview of recent advances on resilient coordination against node injection attacks for CPSs based on the idea of mean subsequence reduction (MSR). Different from existing survey papers that adopt a horizontal taxonomy based on attack type, we propose a vertical taxonomy according to the multilayered framework of CPS, which enables a more in-depth of the latest developments in MSR-based resilient coordination results. Furthermore, the proposed taxonomy fills the gap that no survey has gathered and classified numerous MSR-type papers from the perspective of system structure. Specifically, more than 100 MSR-based resilient coordination results are classified and reviewed from three perspectives: physical structure, network topology, and communication mechanism. Finally, three typical application scenarios, i.e., resilient frequency synchronization for single-phase microgrids, resilient containment for multirobot systems (MRSs), and resilient distributed optimization for multimicrogrid systems, are examined, all of which demonstrate the applicability of the reviewed MSR-based strategies.