In this paper, an exponential backstepping sliding mode combined control method based on error model transformation is proposed for track tracking in the horizontal plane of autonomous underwater vehicles (AUV). The error model transformation refers to the transformation of the nonlinear and strong coupling error mathematical model into a controllable linear error mathematical model, and according to the obtained new model, the control law of the backstepping method is designed and combined with the improved sliding mode control, and the final control law is obtained. Simulation experiments show that: When to complex trajectory tracking, autonomous underwater vehicles can be in with initial error, under the condition of input delay and time-varying disturbance, quickly arrived at the track points, and stable tracking trajectory, can quickly converge to zero position error, can make the closed-loop nonlinear system stabilization.