An effective iterative sliding mode control (SMC) method based on iterative learning control and SMC strategy for such nonlinear uncertain systems as manipulator was proposed. The control method introduced the SMC law into the iterative learning control, and proved the control law by using Lyapunov theory to ensure the stability of the system. A relatively simplified njoint manipulator model was obtained via the dynamics model which was established based on Lagrangian mechanics method. It was verified by a twojoint manipulator simulation on MATLAB that the proposed control strategy could effectively improve the tracking speed and tracking accuracy and alleviate the chattering phenomenon of the traditional SMC to a certain extent, and its robustness was better than the traditional iterative learning control. Finally, the effectiveness of the control strategy designed was verified by physical experiments.