The system is decomposed into the input-output subsystem and the zero dynamics subsystem for flexible manipulators with uncertain parameters through the output of manipulators system is redefined.The neural sliding mode control strategy is proposed for the input-output subsystem.The weights of the radial basis function(RBF) neural network is adjusted online to meet sliding mode arrived conditions.It can guarantee the output of the network to close approach insingular non-singular terminal sliding mode control input of the system and avoid chattering phenomenon.The zero dynamics subsystem is approximation approximately linearizred at nearby the equilibrium point to select the design control parameters.Computer Ssimulation and experiment results demonstrate that the controller design method presented herefulfills the accurate control from point to point and vibration damping can be accomplished.control of the flexible manipultor,and the elastic vibration at the end of flexible manipulator is eliminated.