Abstract: A modified backstepping adaptive fuzzy control method is proposed. Fuzzy logic systems are used to approximate complex nonlinear functions and the modified adaptive backstepping method is applied to constructing the controller. There is no state variable in the denominator of the designed virtual control function and the instability or oscillation of the system can be avoided even when state variable values approximate or equal to zero. The proposed controller can realize the quick tracking of the reference signal when system parameters are uncertain. The efficiency of this control method is demonstrated by the numerical simulation.