The thesis is proposed the methods to reduce the chattering phenomenon of sliding mode control input for robotic manipulator. First, we apply the concept of boundary layer to improve the chattering problem of traditional sliding mode controller. Second, the sliding mode control combines with type-2 fuzzy theorem to compensate the time-varying uncertainties and deal with the nonlinear part of the robotic manipulator. Finally, a single input type-2 fuzzy controller is applied to a two-link robotic manipulator in practice to verify the effective of proposed control scheme. The computer simulation results show that the chattering and the steady state error are eliminated and satisfactory trajectory tracking is achieved.