This paper designed the mechanical and electrical structure of the underwater condenser cleaning robot. Considering the comprehensive influence caused by factors such as buoyance, flow resistance, etc, a dynamics model was established based on the complex work environment, and an adaptive control method was proposed. The structure of the control rule is simple and robust, which can overcome the uncertainties and the disturbances. The stability and convergence of the control system are ensured by using the Lyapunov method. Simulation results show the controller is very steady and can provides satisfactory tracking ability, which verifies the proposed model.