This paper addresses the finite-time tracking control of heterogeneous multi-AUV systems with intermittent communication and partial measurements. The authors propose a distributed trajectory-tracking control strategy that does not rely on velocity measurements. The strategy includes two observers and one controller for each follower-AUV. The first observer is a hybrid finite-time observer that estimates the state of the leader, while the second observer, which relies only on position measurements, estimates the states of the follower-AUVs. A distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network, even without velocity measurements. The effectiveness of the proposed strategy is demonstrated through numerical simulations. The key contributions include the design of intermittent communication-based distributed finite-time observers and an observer-based hybrid finite-time tracking controller, which ensure that all followers can track the leader in finite time, even during periods of no communication.This paper addresses the finite-time tracking control of heterogeneous multi-AUV systems with intermittent communication and partial measurements. The authors propose a distributed trajectory-tracking control strategy that does not rely on velocity measurements. The strategy includes two observers and one controller for each follower-AUV. The first observer is a hybrid finite-time observer that estimates the state of the leader, while the second observer, which relies only on position measurements, estimates the states of the follower-AUVs. A distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network, even without velocity measurements. The effectiveness of the proposed strategy is demonstrated through numerical simulations. The key contributions include the design of intermittent communication-based distributed finite-time observers and an observer-based hybrid finite-time tracking controller, which ensure that all followers can track the leader in finite time, even during periods of no communication.