Abstract: In this paper, a novel fuzzy inverse model control using fuzzy clustering and sliding mode control (SMC) is proposed for the trajectory tracking of robotic manipulators having unknown dynamics. The fuzzy model of a two-link manipulator is built based on the derivation of TS models using fuzzy C-means clustering algorithm and the robot fuzzy inverse model is obtained. Then, in the proposed control framework of fuzzy inverse model, sliding mode control and the time-delay control approach are used to compensate for the fuzzy modeling errors and disturbances, thus the system stability is guaranteed and its tracking performance is improved. The system stability and convergence of tracking errors are proven by stability theory. Finally, an example for the trajectory tracking of a two-link manipulator illustrates the performance improvement of the proposed control approach.