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The control system of an autonomous underwater vehicle (AUV) is introduced. According to the control requirements of the AUV, a simple but practical adaptive PID control method is de- signed. The semi-physical simulation is done to test the feasibility of the control system. The neural network idea and the structure of PID controller are referred to design the adaptive PID controller. An intelligent integral is introduced to improve control precision. Compaed with traditional PID con- trollers, the adaptive PID controller has simple structure, good online adjusting ability, fast conver- gence and good robustness. The simulation experiments also show that the adaptive PID control sys- tem has high precision and fine antijamming ability.