The problem of guidance of autonomous underwater vehicles (AUVs) into a vicinity of a given object using ultra-short baseline (USBL) system is considered. It is assumed that the AUVs with an incomplete drive under the influence of thrust and torque moves in a horizontal plane (HP) with a constant surge velocity and the coordinates of a target are known. The modem receives data allowing it to estimate its current geographical coordinates. The control (turning moment) is selected either proportional to the angle of sight or its derivative. The specifics of the problem under consideration are determined by its terminal nature – the right-hand sides of a closed controlled system have a singular point at the end of the guidance process. The desired behavior of the AUV is formalized in the form of stability definitions. The proposed approach is based on the Lyapunov function method. The obtained results are illustrated by computer modeling which takes into account the influence of the current, the variable delay of measurements coming from the modem and their skips.