Abstract: Aimed at the problems of joint friction and underwater current interference in underwater teleoperation system, the bilateral control algorithm of master-slave manipulator was optimized under the hybrid control structure of force feedback and position feedback. In order to track the interaction force of the slave manipulator for the master manipulator, the grey predictive fuzzy PID control with error compensation was used to adjust the force feedback error. In order to track the position of the master for the slave manipulator, a fuzzy adaptive sliding mode control system was used to adjust the switching gain, estimate the upper bound of the external interference, and a robust term was designed to suppress the error estimation. The stability and convergence of the optimized system were proved by Lyapunov stability theory. A comparative simulation experiment on MATLAB/Simulink platform was carried out to verify the effectiveness of the optimization algorithm.