Heave compensation Control is usually used in vessels for offshore and deep-sea operations to reduce the adverse impact of unexpected vertical motion. This paper presents a control strategy for an active heave compensation system consisting of an electro-hydraulic system driven by a double rod actuator, which is subjected to parametric uncertainties and unmeasured wave disturbances. An adaptive robust controller is designed to guarantee the heave compensation error convergent to a bounded neighborhood around the origin. Simulations illustrate the effectiveness of the proposed control system.