In order to positioning accurately and moving smoothly for the boom tip of concrete pump truck,a new boom control system was proposed.By adopting close-loop control mode,using displacement sensors to measure extension length for the hydraulic cylinder and calculating joint angle between two adjacent booms according to the geometric relationship between the connecting rods,the location coordinates for the boom tip were obtained.A Proportional-Integration-Differential(PID)control strategy with feed forward compensation was used to improve characteristics of following and response for the motion of boom system.Experimental results show that application of this new boom control system can improve positioning accuracy for the boom tip obviously,and the booms move smoothly and have high-quality of following characteristics.