According to full hydraulic straightening machine of thick plate to control the object, research is focused on the four automatic gain control (AGC) hydraulic cylinders in the collaborative performance under different working conditions. The mathematical model of electrohydraulic servo system for a hydraulic roll cutting shears was established. Aimed at the full hydraulic straightening machine of cooperative control system of nonlinear，time varying，load easy disturbance and other vulnerable features，by selecting the fuzzy neural network controllers algorithm, a strategy of cooperative control for the four electrohydraulic servo is proposed, which was based on combination of fuzzy neural network control and adjacent coupling control. The existence between four AGC control loops of system dynamic coupling error compensation was completed. The experiments on site show that the control algorithm has good stability behaviour and a quick convergence rate. After used the strategy, the control system has very good accuracy of coordinated control, and can well realize the coordinated tracking control of four AGC cylinder of the full hydraulic straightening machine. 