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The control of autonomous underwater vehicles (AUV) presents a number of unique and formidable challenges. AUV dynamics is highly nonlinear, coupled, time varying and subject to hydrodynamic uncertainties and external disturbances such as current. In this paper, we presented a new type of controller for AUV motion control based on fuzzy cerebella model articulation controller (FCMAC). A nonlinear six degree-of-freedom equation of AUV motion was derived. The application of the designed FCMAC controller to AUV motion control was discussed and the simulation results shown that this algorithm possessed better dynamic performance and robustness than conventional PID strategy.