This paper aims to propose a novel swarm cooperative control mechanism to address the consensus tracking problem for a class of heterogeneous nonlinear systems under the switching communications of multiple subsystems of industrial cyber-physical systems (ICPS). By developing a novel mechanism of the dwell time of switching communication topologies, it is proved that the swarm cooperative control can be achieved for closed-loop heterogeneous systems with nonlinear dynamics by proposing a switching consensus based error compensation algorithm. Simulation is presented to demonstrate the effectiveness of the proposed algorithm.