Autonomous Underwater vehicles (AUVs) have affirmed their position and importance in many fields that attract investment and research from countries worldwide. However, the underwater environment is very uncertain and complex due to limited visibility; for example, in the ocean, the environment for AUV’s activities is primarily unknown and unpredictable, with many unavoidable external disturbances, making it challenging to design the controller. The backstepping control method is suitable for AUV-type non-actuated motion systems. However, in the control process, a significant switching frequency leads to shaking, so this paper proposed an adaptive fuzzy backstepping control method. The idea of the method is to adjust the parameters α and β based on the fuzzy system so that the state trajectory shifts to the origin to stabilize the control signal τ, in which the α parameter is linearly related to the β parameter. The simulation results show that the Adaptive Fuzzy Backstepping (AFB) control method brings good control quality to the system.