Abstract: There are some problems such as modeling error and external disturbance in trajectory tracking control of manipulator. In order to improve the accuracy and speed of trajectory tracking of manipulator, an adaptive fuzzy sliding mode control strategy based on disturbance observer is designed. Firstly, a novel reaching law is used to reduce the influence of chattering in the sliding mode control system of the manipulator. Secondly, a disturbance observer was used to estimate the modeling error and external interference of the manipulator, and the input torque of the manipulator was compensated according to the observed value of the disturbance observer. Finally, for the unobservable part, the unknown disturbances are estimated by the universal approximation principle in fuzzy system, which further improves the trajectory tracking performance of the manipulator. The simulation results show that the control strategy can not only overcome the influence of modeling errors and external disturbances, but also effectively weaken the chattering of the system, and ensure the accuracy and speed of the position tracking of each joint of the manipulator. It also shows that the control strategy is correct and effective.