The motion trajectory of the hydraulic actuator is easily disturbed by various environmental factors, which leads to the deviation of the actual motion trajectory from the theoretical trajectory, resulting in the decrease of positioning accuracy. Therefor a simple diagram of single lever hydraulic actuator is established, and the motion trajectory of hydraulic actuator is controlled by Lyapunov stability controller. The dynamic model of the twoside remote control system are analyzed. The hydraulic actuators nonlinear flow control equation was deduced to design the single lever hydraulic actuator bilateral control Lyapunov stability control scheme, using mathematical methods to prove the stability of the controller. The trajectory tracking error of single lever hydraulic actuator was simulated and compared with the tracking error of the traditional Proportion Integral Derivative (PID) controller. The error simulation results show that when the external waveform is disturbed, the motion trajectory of hydraulic actuator is controlled by Lyapunov stability controller, and the error is small. The hydraulic actuator adopts Lyapunov stability controller, which can improve the stability of the system motion and reduce the error caused by the motion trajectory.