the Shanghai Engineering Research Center of Intelligent Maritime Search&Rescue and Underwater Vehicles Maritime University 201306;
the Shanghai Maritime University 201306;
the School of Mechanical Engineering of Shanghai for Science and Technology 200093;
the Department of Electrical and Computer Engineering State University State 39762 USA;
Autonomous underwater vehicle(AUV); event-triggered control; fixed-time consensus; formation obstacle avoidance; improved artificial potential field and leader-follower strategy(IAPF-LF);