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Hybrid-driven underwater gliders (HDUGs) is a new type of underwater robot which is a combine of the autonomous underwater vehicles (AUVs) and autonomous underwater gliders (AUGs). Hybrid-driven underwater robot is nonlinear, strong coupling, influenced by the ocean currents and its structure of dynamic model is uncertain. To confront with these problems, a nonlinear control method based on the inverse system and sliding mode control was used for the hybrid-driven mode, which decouple the original system into two independent single input and single output linear subsystems. Simulation results show that this method not only has a good control performance, but also be robust with the external disturbance .