Animal Companion

At-will, free action, once per turn; you give your Animal Companion a verbal or gestured command, such as attack a target, move somewhere, guard a creature, or fetch an object. The companion acts on your initiative and follows the command to the best of its ability and understanding. Without a command, it acts on instinct: defending itself, protecting you, or continuing its last order.

If you are incapacitated or the companion cannot perceive you, it continues to act on instinct until you can command it again.