The invention provides a local obstacle avoidance considering UUV moving object sliding mode tracking control method, which comprises the steps of detecting position information of a UUV, a moving object and an obstacle in real time, acquiring state estimation of the moving object at the moment k, building a relative motion model of the UUV, the moving object and the obstacle, autonomously switching between a tracking strategy and an obstacle avoidance strategy according to the relative positions of the UUV, the moving object and the obstacle based on the size of the object tracking radius and the obstacle avoidance safety radius, acquiring tracking control deviation according to the measurement feedback of the instruction speed, the course, the UUV navigation speed and the course changing angular speed, and carrying out calculation based on a horizontal plane non-singular terminal sliding mode controller so as to acquire thrust of a UUV propeller and course changing torque of a rudder at the moment k, and executing the above steps in a cyclic manner so as to realize tracking control for the moving object at the next moment. According to the invention, a local planning strategy in the complex environment is combined with a UUV dynamics model, and the tracking accuracy of the moving object is ensured under the premise the UUV navigation safety.