Abstract: To address the trajectory-tracking control problem of the hydraulic manipulator with uncertainties such as friction and load, we establish a mathematical model of the mechanical and hydraulic systems of the manipulator. Based on the Lyapunov function, we propose a fuzzy compensation strategy to achieve control, and construct a fuzzy system to approximate the friction and load. For force and load, we use a flow compensator to eliminate the influence of load pressure changes on the performance of the servo valve, and a gravity compensator is used to eliminate changes in system performance with changes in load quality. The simulation results show that, compared to the traditional fuzzy control and proportional-derivative control, the designed controller improves the ability of the manipulator joints to track the desired trajectory. The results of three simulations of load conditions and an analysis of the compensation limit of the controller lay a solid foundation for subsequent research.