Deep seabed contains abundant mineral resource.Research of the deepsea stepping mechanism has important significance.The main control problems to be solved for the deepsea stepping mechanism are speed synchronization,antiload slow change interference and random interference.The hydraulic system was designed.According to design parameter,the mathematical model of per segment was built and the simulation analysis was carried out.The simulation experiment flat was established based on these models.To realize the speed synchronization control and antiinterference control,various control algorithms were combined,such as grey prediction control,data drive model,fuzzy control,conventional PID control and so on.Some algorithms were presented.The grey prediction fuzzy control was designed to the wheel motor subsystem.Fuzzy adaptive algorithm based on multimodel was designed to the variable pumpwheel motor system.Simulation experiments were carried out under the software simulation platform to verify the effectiveness of these algorithms.According to the characteristics of the secondorder reference feature model,the combination of the multireference model,fuzzy control and the conventional PI control within a small error range,through the control compensation of the multimodel in different error range,the system can achieve the expected control target better under the guidance of the reference model.