This paper presents the theoretical development of the negotiation of a multi-underwater glider problem, where glider is called agent. Negotiation is a key point in multi-agent (multi-underwater glider) system, which aims to accomplish cooperation and coordination. How to cooperate and coordinate effectively remains to be one of the most urgent problems in the study of multi-agent system too. The article mainly discusses how to maintain the cooperation and coordination of the multi-agent system. First, it introduces the structure of the system; secondly, it has raised cooperation function as to realize cooperation. At the same time, a new approach based on fuzzy concept is presented in this paper to solve coordination with the other agents on surrounding environment. The fuzzy synthesis decision-making matrix is used in the strategy choice to choose the best strategy to realize coordination among agents. All these are generalized and can be used widely in the area.