Abstract: Autonomous submerged vehicles are progressively supplanting the common remotely worked vehicle-controller frameworks. Most Ebb and Flow era AUVs are not fitted with controllers and consequently are chiefly restricted to submerged looking over and observation assignments due to the trouble in the planned control of the subsequent submerged vehicle controller frameworks. While a few scientists have proposed different strategies for control of AUVs, there is still much research to be done on the exact control of submerged controllers. This study shows an astute control strategy for submerged controllers in view of the neuro-fluffy approach. The controller is made out of fluffy PD control with criticism pick up tuning by phonetic guidelines. A neural system compensator approximates the elements of the numerous degrees of flexibility controller in decentralized frame. The proposed controller has points of interest of effortlessness of execution because of decentralized plan, exactness and vigor to payload varieties and hydrodynamic unsettling influences. It has bring down vitality utilization contrasted with the customary PD control strategy. The adequacy of the proposed controller is represented by test comes about for three degrees of opportunity submerged controller.