in this paper, an adaptive control technique is applied to controlling the chaotic behavior in thruster motor system for deepwater robot. This chaotic oscillation has a direct impact on the stability, reliability and security of the robot. In addition, the proposed approach is also verified in the way of both flexibility and effectiveness, and a kind of chaotic controller that is applicable for manufacturing is designed and constructed. The simulation results show that thruster motor system can escape from the chaotic state in a short time by using the adaptive controller and transfer into continuous stable state. The method presented has improved performance of the control system obviously.