Abstract—The hydraulic actuated excavator, being a non-linear mobile machine, encounters many uncertainties. There are uncertainties in the hydraulic system in addition to the uncertain nature of the load. The simulation results obtained in this study show that there is a need for intelligent control of such machines and in particular interval type-2 fuzzy controller is most suitable for minimizing the position error of a typical excavator’s bucket under load variations. We consider the model parameter uncertainties such as hydraulic fluid leakage and friction. These are uncertainties which also depend up on the temperature and alter bulk modulus and viscosity of the hydraulic fluid. Such uncertainties together with the load variations cause chattering of the bucket position. The interval type-2 fuzzy controller effectively eliminates the chattering and manages to control the end-effecter (bucket) position with positional error in the order of few millimeters. depends on the bulk modulus of the fluid as well as many frictional components of the hydraulic system. Fig. 1 shows a photo of a typical hydraulic excavator. The hydraulic structures that control the boom and the arm are clearly visible in this photo. Keywords—excavator, fuzzy control, hydraulics, mining, type-2 T I.