Autonomous Underwater Vehicles (AUVs) are tethered free and unmanned. AUVs are powered by onboard energy sources such as fuel cells and batteries. They are also equipped with devices such as electronic compass, GPS, sonar sensor, laser ranger, pressure sensor, inclination sensor, roll sensor and controlled by onboard computers to execute complex preprogrammed missions. In oil and gas sector, two separate categories of AUVs are classified for application in Exploration and Production (E&P). A survey class vehicle is for inspection of offshore structures and data acquisition, and a work class vehicle for underwater manipulation and installation. AUV dynamics involve six degrees of freedom (DOF). Most of the AUV application requires very stringent positioning precision. However, AUVs’ dynamics are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately estimated due to the variables associated with different operating conditions. Experimental class AUVs provide an excellent platform for development and testing of various new control methodology and algorithms to be implemented in developing advanced AUVs. Control performance requirements of an AUV are most likely to be achieved from control concepts based on nonlinear theory. Recently developed advanced control methodologies focused on improving the capability of tracking predetermined reference position and trajectories. Due to increasing depth of operation expected from future AUVs and onboard limited power supply, the area of future research in AUV control is most likely to expand into incorporating intelligent control to propulsion system in order to improve power consumption efficiency. This paper presents a survey on some of the experimental AUVs and the past, recent and future directions of the AUV control methodologies and technologies.