It is difficult for hydraulic excavators to achieve high-precision path tracking in complex dynamic environments， a hierarchical control architecture was proposed based on time-varying GVF. Firstly， the normalized time-varying guidance vector field was constructed as the upper planner， and the convergence term was designed based on the Euclidean distance function to drive the system to converge to the parameterized target path globally. Then a dynamic feedforward compensation term was introduced， and the null space projection mechanism was used to eliminate the influences of time-varying path geometric deformation on the tracking performance of the manipulator， so as to ensure the dynamic tracking ability to the target path. In addition， the ultimate boundedness of the system under model uncertainty and external disturbance was proved by Lyapunov stability theory， and the quantitative relationship between disturbance intensity and tip trajectory deviation was derived. Furthermore， a singularity avoidance mechanism was proposed to ensure the uniqueness and continuity of the global workspace solution of the vector field corresponding to the tip trajectory of the excavators. For the independent hydraulic system of the valve port， the lower controller designed a coordinated control strategy of oil inlet flow and oil return pressure to achieve high-precision tracking of the output commands of the planner and improve the energy efficiency of the systems. Finally， the effectiveness of the algorithm was verified by simulation.
