This article introduces a new technique for stabilizing autonomous underwater vehicles in the descriptor model. Autonomous underwater vehicle stabilization is limited by several constraints, including time-variable uncertainty, time delay, and disturbances. The interaction of descriptor system requirements and the issues mentioned above adds complexities. This study outlines the delay-dependent H‘ robust stability achieved through memory-less and memory state feedback. Furthermore, a less conservative sufficient condition is obtained for admissibility using a new delay-dependent linear matrices inequality. Autonomous underwater vehicle is regular, impulse-free, and stable under all permissible conditions and satisfies prescribed H‘ performance conditions via a Lyapunov functional approach. The method applies to neutral and retarded dynamics with discrete and distributed time delays

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