The paper discusses the cooperative tracking problem of partially known cyber–physical multi-agent networked systems. In this system, there exist two cascaded chances for cyber-attacks. The local agent is of networked system type that is subjected to unknown false data-injection and replay cyber-attacks that are dissimilar in the sensor-controller and the controller-actuator network parts. The communication between any two agents, if they are connected, is accomplished via a communication network that is subjected to false data-injection cyber-attacks. The problem of the existing two cascaded chances for cyber-attacks is solved in three steps. First, with partially known system parameters and unknown false data-injection and replay cyber-attacks, the state estimates of all the local followers are evaluated by designing local adaptive observers. Second, a new technique is designed to compensate for the unmatched terms that result from the use of local adaptive observers. After that, distributed adaptive leader–follower security controllers are proposed based on the local estimated information in addition to the infected arrived information from the neighbors. Meanwhile, it is verified that the suggested security control method guarantees that all states of the followers under the considered cyber-attacks follow the given leader asymptotically. The efficacy of the developed adaptive leader–follower security controllers is verified via an illustrative example.

本文讨论了部分已知的网络物理多代理网络系统的协作跟踪问题。在该系统中，存在两次网络攻击的级联机会。本地代理属于联网系统类型，会遭受未知的错误数据注入和重放网络攻击，这在传感器-控制器和控制器-执行器网络部分中是不同的。如果连接了任何两个代理，则它们之间的通信是通过受到虚假数据注入网络攻击的通信网络完成的。分三个步骤解决了现有的两次网络攻击机会的问题。首先，利用部分已知的系统参数以及未知的虚假数据注入和重放网络攻击，通过设计本地自适应观察者来评估所有本地关注者的状态估计。其次，设计了一种新技术来补偿由于使用局部自适应观测器而导致的不匹配项。此后，除了从邻居感染的到达信息之外，还基于本地估计信息，提出了分布式自适应领导者跟随者安全控制器。同时，验证了所建议的安全控制方法可确保在考虑的网络攻击下追随者的所有状态都渐近地跟随给定的领导者。通过说明性示例验证了开发的自适应领导者跟随者安全控制器的功效。除了从邻居感染的到达信息之外，还基于本地估计信息，提出了分布式自适应领导者跟随者安全控制器。同时，验证了所建议的安全控制方法可确保在考虑的网络攻击下追随者的所有状态都渐近地跟随给定的领导者。通过说明性示例验证了开发的自适应领导者跟随者安全控制器的功效。除了从邻居感染的到达信息之外，还基于本地估计信息，提出了分布式自适应领导者跟随者安全控制器。同时，验证了所建议的安全控制方法可确保在考虑的网络攻击下追随者的所有状态都渐近地跟随给定的领导者。通过说明性示例验证了开发的自适应领导者跟随者安全控制器的功效。