Objective   This study aims to solve the problem of the track control for submarine in the horizontal plane.

  Methods   Firstly, the paper builds dynamics and kinematics model of the submarine in the horizontal plane, then builds the error model of the track control for submarine by Line-of-Sight (LOS)in order to transform the problem of track control in the horizontal plane to the problem of following dynamic expected heading angle. Then the paper designs a model prediction control algorithm based on the state space accordingly.

  Results   Simulation results show that the trace control method which combines LOS and the prediction control algorithm can effectively solve the track control problem for submarine, and the model predictive control algorithm can solve the constraint problem of rudder angle and the rudder speed of submarine.

  Conclusion   The designed trace control algorithm for submarine can be referential for the subsequent development of track control system.