This　paper　focused　on　the　trajectory　tracking　control　problem　of　multi-AUVs　system.　Combining　the　consensus　theory　with　pinning　control　to　design　the　control　protocol　for　AUV　influenced　by　the　communication　delay,　uncertain　state　information　and　the　external　disturbance.　The　consensus　control　is　used　to　discuss　the　coordinate　problem　with　time　delay　and　external　disturbance.　The　cost　of　the　communication　is　reduced　by　the　pinning　control.　The　trajectory　tracking　control　protocol　considered　each　follower　communicated　with　the　neighboring,　estimated　the　external　disturbance　and　uncertain　accelerate　information　of　leader.　At　least　one　follower　could　obtain　the　position　and　velocity　information　from　the　leader.　The　efficiency　of　the　control　protocol　is　proved　by　the　numerical　simulations.　©　2024　SPIE.