This paper studies a class of adaptive robust control problems with considering the effect of filtering precision on tracking performance. A novel Tracking Differentiator(TD) is employed to filter command signal and virtual control signals in dynamic surface control(DSC) to solve traditional "explosion of complexity". Then, an adaptive recursive sliding surface robust controller for second-order switched systems is studied by using parameter initialization technique and instruction filtering method. The adaptive fuzzy logic is designed to satisfy the dynamic and static performance and finite time tracking for the considered switched system. Finally, numeral simulation is conducted to validate the effectiveness of the proposed control scheme.