Aiming at the problems of slow real-time tracking and low precision of unmanned Autonomous Underwater Vehicle (AUV) in complex hydrological environment, an adaptive predictive tracking control method based on Laguerre function is designed.Firstly, the trajectory tracking problem is transformed into quadratic programming design based on predictive control.Secondly, in order to solve the control variable mutation caused by AUV trajectory change and external disturbance, an adaptive predictive controller is designed by combining recursive least square algorithm.Then, the controller is reconstructed by Laguerre function to solve the slow response speed of the system caused by the large amount of computation.Finally, the simulation proves that the method can improve the response speed, anti-interference capability and robustness of the system.