Abstract: It is expected to reduce the velocity and the impact of the contact, which is significance to improve the efficiency and quality of welding. Sliding-mode control can reduce contact force, but it takes long time. In this paper, a fuzzy weighed control method between sliding-mode and state feedback was used to reduce the contact force and electrode operating time for pneumatic servo welding gun. Firstly, the sliding mode switch function and sliding mode control law were designed based on a system model. Then, a state feedback controller was designed by means of pole assignment, and a fuzzy weighted controller was designed based on fuzzy control for sliding mode and state feedback. Finally, the proposed control strategy was verified by experiments. Results show the effectiveness of the designed controller, being better than other controller.