Abstract: This paper investigates the design of an adaptive fuzzy predictive control law for uncertain nonlinear MIMO (multi-input multi-output) systems.According to the tracking errors,weighted parameters of the indirect fuzzy system are adjusted on-line to enable the system to approximate the uncertain nonlinear functions.In addition,a robust controller is used to enhance the performance of the whole system.Based on Taylor expansion,a fuzzy indirect adaptive predictive control law is designed,and the huge calculation burden of on-line optimization can be avoided.With Lyapunov theory,it is proven that the overall system is uniformly ultimately bounded.Finally,the attitude control system of a hypersonic vehicle is designed with the proposed control method,and the simulation results demonstrate the effectiveness of the method.