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Aiming at the characteristics of parameter perturbations and the effect of disturbance outside in agricultural tracked robot control system, a self-adaptive fuzzy sliding mode control was proposed based on fuzzy logic theory to improve the control precision and stability, which combined sliding mode control with fuzzy theory. Firstly, the motion equation of agricultural tracked robot was derived and analyzed. Secondly, an integral sliding mode surface was proposed, and an adaptive fuzzy sliding mode control was designed based on equivalent efficiency control and switching control, which held the celerity and robustness of sliding mode control and also weakened the buffeting very well. The simulation and test results showed that compared with conventional sliding mode control method, the proposed control possessed the advantages of good adaptability and robustness to outside disturbances and parameter uncertainty, and also had fast dynamic response and well tracking performance, which was feasible for agricultural tracked robot controlling system.