The lifting mechanism on the transfer vehicle is a common electromechanical–hydraulic system. In order to overcome the non-linear and interference that exist in the hydraulic boom combined motion process, a dynamic surface adaptive fuzzy sliding mode control method is proposed. The Lyapunov function and virtual control base on inversion of the sliding mode control are designed, the dynamic surface control is used to calculate the derivative of the virtual control, and the adaptive control is applied to estimate the parameter. Furthermore, the fuzzy control is applied to fuzzification the switching item of the sliding surface. Verified by simulation, the designed sliding mode controller has high control accuracy and strong robustness and eliminates system chatter.