In consider of docking task of AUV and underwater moving platform, an AUV tracking controller is designed. In this controller, target trajectory is calculated to determine AUV expected velocity and heading angle, during which, Lyapunov stability law is followed. An AUV heading angle and velocity controller is designed based on active disturbance rejection controller (ADRC) considered the perturbation of system model establishment and external disturb. The controller performed well, as is proved in the simulation experiment, that target trajectory is tracked effectively by trajectory tracking controller.