Construction machinery vehicles such as hydraulic excavators have the advantages of economy, which are widely used in construction, road construction, water conservancy, mining and military engineering to complete most of the earthwork in various engineering construction. Due to the complex working conditions of the actuator of hydraulic excavator, such as boom, stick, bucket, etc., it is required that the operator can control the actuator of boom, stick and bucket step by step in order to keep the accuracy of action consistently in the normal working speed, that is, non-linear, dynamic performance asymmetry, etc. At present, the mathematical model of hydraulic excavator working arm control system is not completely consistent with the actual object because of the simplified calculation. The control performance of such a complex system is required to be high, and intelligent control, such as adaptive control, fuzzy control, sliding mode control and so on, is needed in the system to carry out intelligent management, so that it can not rely on high-precision mathematical model. In the hydraulic excavator, the parameters and load changes seriously interfere with its control system. The application of adaptive control in the actuator can automatically adjust the control parameters of the system only according to the continuous changes of the load and working conditions.
