To address the strong nonlinearity, time-varying load, and asymmetric actuator characteristics in the hydraulic system of unmanned excavator working devices, an asymmetric fuzzy proportional-integral-derivative (PID) control method was proposed. First, the kinematic model of the manipulator was analyzed to achieve mapping transformation between joint space and drive space. Second, a hybrid interpolation strategy combining quintic polynomial and linear segments was adopted to generate a continuously smooth breaking trajectory, which reduced computational load and improves trajectory executability. Finally, asymmetric membership functions and fuzzy rules were designed to construct an asymmetric fuzzy PID controller for precise trajectory tracking of the breaker end. Simulation results demonstrate that, compared with conventional PID and fuzzy PID control, the proposed method significantly improves response speed and tracking accuracy. Field experiments further verify that during multi-actuator coordinated control, the asymmetric fuzzy PID effectively suppresses impact oscillations, ensuring smoother arm motion and superior tracking accuracy and adaptability under complex trajectories and high-impact conditions. Moreover, the stable performance of the proposed method in typical breaking operations confirms its applicability, indicating its potential for practical deployment in unmanned excavator operation control under complex working conditions.