Abstract: To eliminate the chattering in sliding control, a structure-variable controller is developed for adaptive fuzzy sliding. Introducing the adaptive fuzzy control to continuously approximate to the equivalent controller so as to make the equivalent control independent of the accurate mathematic model of the hydraulic excavator's bucket, the robustness of the uncertainty control system is enhanced and then applied to the trajectory tracking control of the hydraulic excavator's bucket. The control law involves three parts, i.e., the equivalent, switching and regulating control. The adaptive fuzzy sliding control is simulated with Matlab7.4/Simulink for path tracing of excavator's bucket, thus revealing the tracking performance and input control.