“…Considering the closed-loop system consisting of the AUV (1)- (2) under Assumption 1, the tracking control law (32) with the adaptive laws (33) and (34), the virtual control (17), and the additional control in (25) with the auxiliary dynamic system (26). Under the condition −e (0) < e (0) < e (0), the actual trajectory of the AUV tracks the desired trajectory d with the prescribed control performance (6) by artfully adjusting the design parameters K 1 , K 2 , K 3 , , , H, Ω, Γ, , and the tracking error satisfies the prescribed performance (5).…”