In this paper, Takagi-Sugeno intuitionistic fuzzy adaptive sliding mode control system (TS-IFASMC) is designed for nonlinear systems. We propose an intuitionistic fuzzy method to determine the parameters of the adaptive sliding mode control method which is used to control nonlinear systems. Intuitionistic fuzzy systems are considered as a skilled tool to model uncertainty in systems so they can transfer expert knowledge to control schemes better than the other classical methods, and real-world problems can be handled more effectively with this control method. In the proposed system, control parameters are defined by the intuitionistic fuzzy membership, non-membership, hesitation degrees and an integral sliding mode surface for a robust control performance. The novelty of this study is the use of Takagi-Sugeno type intuitionistic fuzzy system in adaptive sliding mode control method and comparison of performance of this new system with other classical methods. Thus, adaptive sliding mode controller based on the Takagi-Sugeno intuitionistic fuzzy system is obtained to provide robust control performance. Finally, the results support the effectiveness of the presented control scheme.