In this research, the goal of designing an adaptive control system is to overcome the uncertain values of a robot underwater and to prove its asymptotic stability by using nonlinear control theory, in the design of the mode controller. Sliding After defining the sliding surface, the control law must be selected in such a way that it satisfies the sliding condition and results in the stability of the system. The results obtained through the theory of the problem that shows the stability of the closed loop system show the Lyapunov stability of the system. Also, the simulation results obtained at the end show the time characteristics obtained and the position errors of the work power in the improvement and development of the control methods used for underwater robots.
