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Since the computed torque or inverse dynamics control techniques are based on a good understanding of the controlled system dynamics and even its environment; the objection for the real-time application is unrealizable for the unknown systems. To tackle this problem, this study developed a robust adaptive fuzzy sliding-mode control system based on the H∞ tracking design technique. The developed control system is comprised of a fuzzy controller and a robust controller. The fuzzy controller is utilized to approximate an ideal controller by the tuning algorithms based on the Lyapunov sense, and the robust controller is designed to achieve H∞ robust tracking performance. To investigate the effectiveness of the developed control system, it is applied to a wing rock motion control system. Simulation results demonstrate that the proposed control system can achieve favorable tracking performances with unknown system dynamics.