Aiming at the problem of formation control after the formation of maneuvering position mines，and to reduce the data interaction information of underwater acoustic communication as much as possible， a leader-follower control method based on leader position information is proposed combined with the application scenarios of concealed，efficient and reliable communication of mines. According to different following situations， a leader-follower speed controller based on fuzzy PID is designed and verified by simulation experiments. The simulation results show that the method is fast and stable.
