This paper investigates the problem of trajectory tracking control in the presence of bounded model uncertainty and external disturbance. To cope with this problem, we propose a novel intelligent operator-based sliding mode control scheme for stability guarantee and control performance improvement in the closed-loop system. Firstly, robust stability is guaranteed by using the operator-based robust right coprime factorization method. Secondly, in order to further achieve the asymptotic tracking and enhance the responsiveness to disturbance, a finite-time integral sliding mode control law is designed for fast convergence and non-zero steady-state error in accordance with Lyapunov stability analysis. Lastly, the controller’s parameters are automatically adjusted by the proved stabilizing particle swarm optimization with the linear time-varying inertia weight, which significantly saves tuning time with a remarkable performance guarantee. The effectiveness and efficiency of the proposed method are verified on a highly nonlinear ionic polymer metal composite application. The extensive numerical simulations are conducted and the results show that the proposed method is superior to the state-of-the-art methods in terms of tracking accuracy and high robustness against disturbances.