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In this paper, we introduce a new method for packet transmission delay analysis and prediction in mobile ad hoc networks. We apply a fuzzy logic system (FLS) to coordinate physical layer and data link layer. We demonstrate that type- 2 fuzzy membership function (MF), i.e., the Gaussian MFs with uncertain variance is most appropriate to model BER and MAC layer service time. Two FLSs: a singleton type-1 FLS and an interval type-2 FLS are designed to predict the packet transmission delay based on the BER and MAC layer service time. Simulation results show that the interval type-2 FLS performs much better than the type-1 FLS in transimission delay prediction. We use the forecasted transimission delay to adjust the transmission power, and it shows that the interval type-2 FLS performs much better than a type-1 FLS in terms of energy consumption, average delay and throughput. Besides, we obtain the performance bound based on the actual transmission delay.