<p>This paper investigates the fuzzy adaptive resilient leader-following consensus control problem for a class of nonlinear heterogeneous multi-agent systems (HMASs) under denial-of-service (DoS) attacks. Since the considered leader’s system contains unknown nonlinear dynamics and HMASs are subject to DoS attacks, the leader’s states and output are inaccessible to followers, a stable distributed estimator is developed to estimate them. To solve the virtual controller non-differentiable problem in backstepping control design technique caused by DoS attacks, the command-filter is introduced into the backstepping control design process, and formulate a resilient leader-following consensus controller. It is proven that the proposed control scheme can guarantee that the controlled HMASs are stable, and the consensus errors converge to a small neighborhood of zero. Finally, a simulation example on unmanned aerial vehicle-unmanned ground vehicles (UAV-UGVs) is provided to verify the feasibility of the proposed control scheme.</p>