This paper presents a finite-time trajectory-tracking control strategy for heterogeneous multi-AUV systems with partial measurements and intermittent communication. The strategy includes two observers and one controller for each follower-AUV. The first observer, a hybrid finite-time observer, estimates the state of the leader, while the second observer, which relies only on position measurement, estimates the states of the follower-AUV itself. A distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network even without velocity measurements. A homogeneous technique is utilized to prove that all followers can track the leader in finite time. The effectiveness of the developed strategy is illustrated by numerical simulations. The contributions of this study are: (1) Two intermittent communication-based distributed finite-time observers are designed for each follower-AUV. Unlike the observer with a sign function proposed by Li et al., the hybrid observer proposed in this study is continuous and can estimate the state information of the leader even if the network communication of the AUV systems is intermittent. Additionally, another observer independent of the velocity is developed to estimate its own states. (2) An observer-based hybrid finite-time tracking controller is developed for each follower-AUV. Compared with the controller that requires continuous communication, the developed controller does not require real-time transmission of the neighbors' state information. Additionally, the controller is designed to use the estimated information of the leader as the reference signal when no communication exists between the AUV systems. Different from the existing intermittent control strategies where the control input is zero during no-communication periods, the intermittent control strategy proposed in this paper can ensure that all followers track the leader with a high transient performance.This paper presents a finite-time trajectory-tracking control strategy for heterogeneous multi-AUV systems with partial measurements and intermittent communication. The strategy includes two observers and one controller for each follower-AUV. The first observer, a hybrid finite-time observer, estimates the state of the leader, while the second observer, which relies only on position measurement, estimates the states of the follower-AUV itself. A distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network even without velocity measurements. A homogeneous technique is utilized to prove that all followers can track the leader in finite time. The effectiveness of the developed strategy is illustrated by numerical simulations. The contributions of this study are: (1) Two intermittent communication-based distributed finite-time observers are designed for each follower-AUV. Unlike the observer with a sign function proposed by Li et al., the hybrid observer proposed in this study is continuous and can estimate the state information of the leader even if the network communication of the AUV systems is intermittent. Additionally, another observer independent of the velocity is developed to estimate its own states. (2) An observer-based hybrid finite-time tracking controller is developed for each follower-AUV. Compared with the controller that requires continuous communication, the developed controller does not require real-time transmission of the neighbors' state information. Additionally, the controller is designed to use the estimated information of the leader as the reference signal when no communication exists between the AUV systems. Different from the existing intermittent control strategies where the control input is zero during no-communication periods, the intermittent control strategy proposed in this paper can ensure that all followers track the leader with a high transient performance.