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This article discusses the design of a hybrid fuzzy variable structure control algorithm combined with genetic algorithm (GA) optimization technique to improve the adaptive proportional-integral-derivative (PID) continuous second-order sliding mode control approach (APID2SMC), recently published in our previous article in the literature. In this article, first, as an improved extension to APID2SMC published recently in the literature, an adaptive proportional-integral-derivative fuzzy sliding mode scheme (APIDFSMC) is presented in which a fuzzy logic controller is added. Second, a GA-based adaptive PID fuzzy sliding mode control approach (APIDFSMC-GA) is introduced to obtain the optimal control parameters of the fuzzy controller in APIDF-SMC. The proposed control algorithms are derived based on Lyapunov stability criterion. Simulations results show that the proposed approaches provide robustness for trajectory tracking performance under the occurrence of uncertainties.These simulation results, compared with the results of conventional sliding mode controller, APID2SMC, and standalone classical PID controller, indicate that the proposed control methods yield superior and favorable tracking control performance over the other conventional controllers. K E Y W O R D Sadaptive PID fuzzy control and genetic algorithm, second-order sliding mode control 1 980