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A project design of distributed control system on CAN-Bus is proposed. The CAN bus mainly carries four nodes that contain mission control system, navigation control system, motion control system, security guarantee control system. The functions of AUV are distributed to different control node, which has a favorable architecture and a convenience for maintenance and upgrade. Differently from concentrated control system, the distributed control system can be easily connected with other control system without changing its hardware when other function modules need to be added, therefore it has an excellent performance of real-time and extending. Finally, the result of lake trial manifests that the AUV maneuvers steady and the distributed control system runs well, which verifies the reliability and verification of this design.