The　robust　leader-following　consensus　of　heterogeneous　multiagent　systems　under　switching　communication　topologies　is　investigated　in　this　paper.　Especially,　the　input　delay　is　considered　in　each　follower.　In　order　to　access　the　information　of　leader　through　time-varying　communication,　a　type　of　distributed　dynamic　compensator　is　proposed　for　every　follower　firstly,　which　get　rid　of　the　dependence　on　the　global　spectrum　information　and　is　proved　that　it　can　be　viewed　as　a　asymptotic　observer　of　the　leader.　Then　combined　with　the　internal　model　principle,　two　types　of　distributed　control　law　are　proposed　based　on　the　compensator.　By　applying　the　truncated　predictor　feedback　scheme　to　synthesize　the　closed-loop　systems,　it　is　proved　that　the　consensus　can　be　achieved　by　both　of　the　control　laws　despite　the　existence　of　the　input　delay　and　the　plant　parameters　perturbations.　Finally,　numerical　simulations　are　illustrated　to　demonstrate　the　results.　©　2022　Chinese　Automatic　Control　Society　and　John　Wiley　&　Sons　Australia,　Ltd.