In　this　note,　we　investigate　cooperative　robust　consensus　problem　for　a　class　of　linear　heterogeneous　multi-Agent　systems　(MASs)　with　parameter　uncertainty　in　agents.　All　the　agents　can　have　nonidentical　dynamic　dimensions.　By　combining　the　communication　network,　a　distributed　dynamic　compensator　is　established　based　on　only　the　measurable　output　information　of　the　exosystem,　which　provides　an　estimated　value　of　the　state　of　the　exosystem　for　each　agent.　The　distributed　dynamic　output　feedback　protocol　(DDOFP)　is　proposed　by　utilizing　the　exosystem　compensator,　through　which　the　cooperative　robust　consensus　is　achieved　under　switching　topology　by　following　output　regulation　framework.　Here,　we　introduce　the　stabilization　scheme　for　a　class　of　liner　switched　systems　to　analyse　the　closed-loop　stability,　which　avoids　the　dependence　on　the　eigenvalues　of　Laplacian　matrix,　such　that　it　is　a　fully　distributed　control　strategy　without　any　global　information.　Finally,　the　simulation　example　is　illustrated　to　verify　the　feasibility　and　effectiveness　of　the　theory　results.　©　2023　SPIE.　All　rights　reserved.