  This paper studies the leader-following consensuses of uncertain and
nonlinear multi-agent systems against composite attacks (CAs), including Denial
of Service (DoS) attacks and actuation attacks (AAs). A double-layer control
framework is formulated, where a digital twin layer (TL) is added beside the
traditional cyber-physical layer (CPL), inspired by the recent Digital Twin
technology. Consequently, the resilient control task against CAs can be divided
into two parts: One is distributed estimation against DoS attacks on the TL and
the other is resilient decentralized tracking control against actuation attacks
on the CPL. %The data-driven scheme is used to deal with both model
non-linearity and model uncertainty, in which only the input and output data of
the system are employed throughout the whole control process. First, a
distributed observer based on switching estimation law against DoS is designed
on TL. Second, a distributed model free adaptive control (DMFAC) protocol based
on attack compensation against AAs is designed on CPL. Moreover, the uniformly
ultimately bounded convergence of consensus error of the proposed double-layer
DMFAC algorithm is strictly proved. Finally, the simulation verifies the
effectiveness of the resilient double-layer control scheme.
