A novel fuzzy robust ??∞ tracking control scheme for a class of uncertain nonlinear systems is addressed. The nonlinear system is represented by the fuzzy Takagi-Sugeno(T-S) model, and fuzzy logic systems are used to compensate the uncertainties. A sufficient condition for the existence of the fuzzy controller is given in terms of linear matrix inequalities(LMIs) and the adaptive law. Based on the Lyapunov stability theorem, the fuzzy control scheme guarantees the desired ??∞ tracking performance in sense that all the closed-loop signals are uniformly ultimately bounded(UUB). Simulation results of 2-link manipulator show the effectiveness of the developed control scheme.