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Electro-hydrostatic actuator (EHA) is the key component of aircraft control system, it requires that the velocity of this actuator should be smooth. There exist nonlinear factors such as leakage and friction influence velocity smoothness of the system. Sliding mode control can effectively suppress the influence of nonlinear factors in the system, but enhancement of the velocity smoothness is blocked by the chattering of the sliding mode control. Aiming at suppress the shortage of sliding mode control method with fixed switching gain. This paper proposes an adaptive sliding mode control method based on variable structure filter. Use the variable structure filter to estimate system states information, then the states information are used to construct sliding surface, use adaptive switching gain to deduce the control law, reduce the chattering amplitude effectively. Simulation results demonstrate the effectiveness of the adaptive sliding mode control method, this method improve velocity smoothness of the electro-hydrostatic actuator.