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.

本文研究基于数字孪生技术的不确定非线性多智能体系统在遭受 `Denial of Service` 和控制攻击的条件下的领从一致性问题，并提出一个具有两层控制框架的鲁棒控制方案。方案分别包括了基于分布式滤波器和基于攻击补偿策略的统一最终有界一致收敛的分布式模型无关自适应协议。