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A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances,and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs).Firstly,for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV),a technique of feedback linearization is developed to transform the nonlinear UUV model into a second-order integral UUV model.Secondly,to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system,we design a distributed extended state observer(DESO)to estimate the unmeasurable velocities and environmental disturbances using the relative position information.Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically.The theoretical result proposed in the literature is verified by one numerical example.