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Underwater vehicle control performance has the higher requirements for the depth control,but the movements of the underwater vehicle has strong nonlinear and coupling, which makes the depth control of different speed difficulty. The kinematics model of underwater vehicle is set up and the depth controller and trim controller are designed.The depth control simulation system is set in MATLAB SIMULINK.The numerical simulation results show that the sliding mode controller for different sailing conditions has strong adaptability, and the depth control effect is better than PID controller.