Armed men attacked the presidency in the city center, according to spokesman Sylvain Ekenge.
The family lived in one of the poorest sections of the DRC capital of Kinshasa.
During this period, he had at least 235 soldiers under his command.
After unsuccessful efforts to enter politics in the DRC, Malanga returned to the US in 2012.
Despite being in exile, he remained actively involved in the countrys political affairs.