The proliferation of Internet of Things (IoT) devices and applications that need to cooperate unattended highlights the need for seamless interoperability and intrinsic security. We argue that Distributed Ledger Technologies (DLTs), due to their decentralized nature, transparent operations, immutability, and availability, can enhance the security, reliability, and interoperability of such IoT systems. In this paper, we advance the integration of W3C's Web of Things (WoT) standards with DLTs and smart contracts, introducing smart contracts as "Digital Twins" of (physical) devices, or whole Cyber-Physical subsystems. Namely, we introduce a DLT-based architecture for controlling devices across federated IoT systems, securely, reliably, and with full auditability. The proposed architecture provides mass actuation and service composition with notable security properties, such as full auditability, transparency, and high availability. Specifically, a single request, with multiple action parameters and conditions, can trigger the reliable and secure actuation of a large number of possibly physically dispersed actuators.