This paper presents a direct adaptive controller for chaotic systems. The proposed adaptive controller is constructed using the network called fuzzy rules emulated network (FREN). FREN’s structure is based on human knowledge in the form of fuzzy rules. Parameter adaptation algorithm based on the steepest descent method is presented to fine tune the controller’s performance. To improve the system stability, the modified sliding mode algorithm is applied to estimate the upper and lower bounds of the control effort. The suitable control effort is generated by FREN and kept within these bounds. Some computer simulations of using the controller to control the Hénon map have been performed to demonstrate the performance of the proposed controller.