Abstract: Objectives To address the covert communication requirements of autonomous underwater vehicles (AUVs), a near-surface communication mode with a foldable antenna is proposed. The key aspect is to maintain a constant distance between the AUV and the wave surface. Methods Utilizing slice theory to forecast the wave forces of regular waves, a five-degree-of-freedom motion equation for the AUV near the water surface is established. Simulation studies on wave-following control of the AUV are conducted using the Line of Sight (LOS) method and PID controllers. Results Simulation results demonstrate that the normal tracking stability precision of the spatial trajectory is 0.2476 meters, and the vertical tracking stability precision of wave-following motion is 0.2326 meters, indicating satisfactory control performance. Statistical analysis reveals that wave height and frequency significantly impact control effectiveness; larger wave height and frequency result in poorer control outcomes. Conclusions The study validates the feasibility of wave following motion for AUVs near the water surface, providing theoretical support for high-covert real-time communication applications.