In　this　paper,　we　studied　the　cooperative　control　problem　for　a　class　of　high-order　nonlinear　multi-agent　systems　(MASs)　with　external　disturbance　and　system　uncertainty.　A　neuro-adaptive　robust　controller　with　sliding　mode　variable　structure　method,　with　an　online-learning　RBF-like　neural　network　was　proposed　to　approximate　the　nonlinear　terms.　Further,　sliding　mode　variable　structure　method　was　used　to　eliminate　the　influence　of　external　disturbance　and　system　uncertainty.　Lyapunov　stability　theorem　verified　the　capability　of　system　consensus,　and　the　sufficient　conditions　for　cooperatively　uniformly　ultimately　bounded　(CUUB)　are　also　given.　At　last,　two　numerical　simulations　on　both　homogeneous　and　heterogeneous　MASs　demonstrated　the　effectiveness　of　our　proposed　method.　©　The　Author(s)　2022.