Microswimmer　and　miniswimmer　toward　precision-targeted　medicine　have　attracted　extensive　attention　recently.　We　have　developed　an　autonomous　manipulation　approach　for　magnetic-driven　helical　miniswimmer　at　low　Reynolds　number　in　the　horizontal　plane　(H-plane).　Different　from　our　previous　work　which　just　makes　the　barycenter　of　miniswimmer　on　the　reference　path　as　well　as　takes　the　swimming　direction　not　into　consideration　in　planar　path　following,　our　control　policy　in　this　article　can　make　the　miniswimmer　to　follow　the　reference　path　and,　at　the　same　time,　its　swimming　direction　is　also　along　the　reference　path.　A　robust　tracking　method　is　employed　to　locate　the　helical　miniswimmer　in　real　time.　Due　to　different　external　disturbances,　an　angle　compensating　model　in　the　global　coordinate　frame　is　developed　by　radial　basis　function　(RBF)　networks　trained　by　backpropagation　algorithms,　which　is　used　to　express　the　swimming　model　of　the　helical　miniswimmer　facing　the　gravity　and　lateral　disturbances.　A　discrete-time　optimal　controller　is　formulated　based　on　the　linear-quadratic　feedback　control.　Simulations　and　experiments　are　conducted　to　quantitatively　validate　the　autonomous　manipulation,　and　the　results　show　the　control　performance　with　submillimeter　accuracy　in　the　H-plane.