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Aiming at the motion control of active pendulum suspension systems with uncertainties and time-varying parameters,an active boom attitude controller based on indirect adaptive fuzzy control strategy is designed.On the basis of establishing the mathematical model of a widely used active pendulum boom suspension system with a simple structure and low cost,for the sake of generality, the input-output linearization transformation of the system model is carried out. The adaptive fuzzy control strategy is aiming to overcome some negative impacts caused by system uncertainties and external disturbances. In addition, the Lyapunov synthesis method is used to design the adaptive law of free parameters in the controller. Simulation results show that the proposed control method has fast response, strong adaptability and robustness. The designed controller is in favor of improving the spray uniformity of sprayer and the stability of spray boom.