This is a basic study on motion control of Manta-type Unmanned Undersea Vehicle(UUV). At first irregular current will be supposed as operating environment condition of Manta-type UUV. Here irregular current is composed of two parts. One is static component and the other variable one. And then the six-degree-of-freedom motion mathematical models of manta-type UUV are suggested. For this the static model test at large angles of attack and four quadrant propeller open water test are carried out respectively. Proportional and Derivative(PD) controls are designed as control devices. The paper deals with thrust control and motion controls in horizontal plane and vertical plane respectively. Numerical simulations of motion control of manta-type UUV are carried out and the effects of motion control are discussed.