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In this paper, we propose a method for designing the path tracking controller using an approach angle concept for an underactuated autonomous underwater vehicle (AUV). The AUV is controlled by the surge speed and yaw rate: there is no side thruster. To solve this underactuated AUV problem in the path tracking, we introduce an approach angle concept which makes the AUV converge to the reference path. And we design the path tracking controller using the proposed approach angle. To design the path tracking controller, we obtain the new vehicle`s error dynamics in the body-fixed frame, and then design the path tracking controller based on Lypunov direct method. Finally, some simulation results demonstrate the effectiveness of the proposed controller.

Design of Path Tracking Controller for Underactuated Autonomous Underwater Vehicle Using Approach Angle Concept