A submerged vehicle which is a nonlinear multivariable system must be designed to be roubst against inner-outer perturbations and hydrodynamic disturbances induces maneuvering operation. But a practical design of motion controller is limited by both mathematical modeling error and linearization errors. Performance of a motion controller based on traditional design method is very poor when the vehicle motion is under wave force distrubacnes near sea surface. Therefore, this ppaer proposes a design method of $^{infty}$ controller under model uncertainty and sea wave disturbances. performance of the controllers by both computer simulation and HILS (hardwave in the loop simulation) shows that $H^{infty}$ controller is more robust than PID controller under model uncertainty and high sea state...