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First, to derive the dynamics model in the discrete-time domain, the state feedback technique and the forward difference approach are employed for the continuous-time nonlinear model of autonomous underwater vehicle. For each follower, the event-triggering function and the coordinated controller are designed, using only discrete-time state information of the leader or other followers. Under this control strategy, the controller will not be updated at each discrete-time instant. Then, the coordinated control problem is turned into the asymptotic stability problem of the multi-autonomous underwater vehicle system. According to the stability analysis, sufficient conditions are presented for successfully completing the formation assignment without and with time-varying delay, respectively. Finally, by performing some numerical simulation experiments, the efficacity of our proposed event-based controller and the correctness of the main theoretical results are demonstrated. The impact of different communication conditions on the control system is revealed by the comparison of several scenarios.<\/jats:p>","DOI":"10.1177\/09596518221137940","type":"journal-article","created":{"date-parts":[[2022,12,17]],"date-time":"2022-12-17T00:35:26Z","timestamp":1671237326000},"page":"904-922","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Discrete-time event-based coordinated formation control of multiple AUVs with time-varying delay and alterable topology"],"prefix":"10.1177","volume":"237","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6247-8614","authenticated-orcid":false,"given":"Haomiao","family":"Yu","sequence":"first","affiliation":[{"name":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian, People\u2019s Republic of 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