In this study a new fuzzy adaptation technique be used in sliding mode controller is developed for achieving robust tracking of non-linear systems. Since conventional sliding mode control strategies suffers from high control gain and chattering problems a fuzzy adaptation for sliding mode controller is proposed to overcome to the problems. In approach two fuzzy approximator are employed in such a way that slop of the linear surface is updated by the first fuzzy approximator, to shape tracking error dynamics in the sliding regime, while second fuzzy approximator regulates behaviour of the states in reaching phase. Thus fuzzy adapted sliding mode controller proposed in this study pushes the system states in the most appropriate way to achieve robust tracking. Examples demonstrate that results are highly satisfied for both dynamics and steady-state responses, hence the method is confirmed through the simulations.