Technologies for machine automation are strongly demanded in some developed countries for achieving various tasks which should be treated by the robot. Autonomous Underwater Vehicles (AUVs) are currently being utilized for scientific and commercial applications. To achieving these tasks, it is required autonomous the guidance and the control systems. Therefore, modeling, system identification and control strategy of these vehicles are still major areas of research and development. Normally, the full actuated AUV is considered for facilitating its control and the disturbance compensation. However, it increases the cost to create and maintain. And thus in author's previous research, an under actuated AUV which still can be controlled when the disturbance exists, was considered to decrease the cost with the same performance as the full actuated one. However, some disturbance effects could not be compensated because of severe nonlinearity of it and the non-holonomic constraint. Therefore, the new control strategy which is considered its nonlinearity, is proposed in this paper and the simulation supports this argument.