In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater propulsion ecology investigation attracts attention from underwater researchers. Among these AUVs, one mimicked the fish is being developed, because of the low sound noise and the rapid turning predominance. The central pattern generators (CPGs), which is a neural circuit for a periodic motion generation of a living thing, is being applied to the control of a mobile robot. In this paper, we design a CPG in consideration of the attitude of a Manta robot for the propulsion control of it. The numerical model of the CPG uses the Matsuoka model. The effectiveness of the proposed technique is shown by numerical simulations.