Aiming at the trajectory tracking issues of the multi-AUV system in the marine environment, a double-layer distributed control strategy is adopted to improve the convergence performance and deal with the time-delay interference, which contains an upper distributed observer and a lower consensus controller, without adopt-ing any global measurement. First, the mathematical model of AUV is converted into a standard double inte-grator dynamic model by means of the feedback linearization. Then, fully considering two cases with or without delay, the convergence conditions and the upper limit of time-delay for the multi-AUV system are obtained through the eigenvalue analysis method of the characteristic equation. Finally, some comparative simulations are designed to confirm the effectiveness and the robustness of the proposed method.
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