<p>Underwater cleaning robots face significant challenges from external disturbances, including waves, currents, surface contact forces, and reaction forces from cleaning equipment. These disturbances compromise trajectory-tracking accuracy and destabilize attachment force control, consequently diminishing cleaning performance. This paper presents a hybrid force/position control method to achieve simultaneous proper force and precise position control of underwater robots under disturbances. Following dynamics modeling and disturbance analysis, the study develops a pose controller utilizing active disturbance rejection control (ADRC) and a force controller employing an adaptive impedance method. An extended state observer (ESO) with gain fuzzy regulation observes and compensates for disturbances, ensuring precise trajectory tracking and stable adhesion force control. The disturbance estimate additionally facilitates online adjustment of the impedance controller’s desired force to maintain appropriate adhesion force. Simulation and experimental results validate that the proposed method substantially improves disturbance resistance and motion capabilities, enabling underwater cleaning operations with suitable contact force and high trajectory accuracy.</p>