In this paper, a fuzzy sliding mode control that combines with a adaptive
self-regulating technique is proposed for manipulators with uncertainties.
Especially the system uncertainties is approximated using fuzzy rule adaptation
technique. The proposed controller is composed of the equivalent control that
includes the approximation of the system uncertainties and the hitting control
that is used to constrain the states of the system to maintain on the sliding
surfaces and used to guarantee the system robustness. Simulation results are
presented to show the effectiveness of the proposed controller