Based on the principle of hydraulic mechanism, a mathematical model of hydraulic drum height adjustment was established for the study of position tracking estimates of shearer’s drum working under various and complicated circumstances. The drum position tracking scheme, in which the fusion algorithm of artificial fish swarm algorithm and ant colony algorithm (AFSA-ACA) was adopted to optimize the parameters of the sliding mode controller, was proposed on the basis of robust advantages of adaptive fuzzy differential and integral sliding mode control (AFDI-SMC), and the specific working characters with both general and adaptive sliding mode control were also analyzed. Simulation results illustrate that the adaptive control system is reliable in both occasions and capable of achieving better position tracking control with good robustness.