This paper deals with the synthesis of a second order sliding mode type-2 fuzzy controller for an nth order multi input multi output (MIMO) nonlinear systems suffering from model uncertainties and subjected to external perturbation. To overcome the constraint on the knowledge of the system model, local models related to some operating points were used to synthesize a type-2 nominal fuzzy model. For sliding modes, adaptive fuzzy type-2 systems have been introduced to generate the super twisting signals to avoid both the chattering and the constraint on the knowledge of upper bounds disturbances and uncertainties. These adaptive fuzzy type-2 systems are adjusted on-line by adaptation laws deduced from the stability analysis in Lyapunov sense. Many simulation results for two link robot manipulator are given to illustrate the good tracking performances, the robustness of the closed loop system and smooth signal control obtained by the proposed approach.