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This paper develops a fuzzy cerebellar model articulation controller (CMAC) for voice coil motor (VCM) drive system. The proposed controller comprises a fuzzy CMAC and a robust controller. The fuzzy CMAC is the main tracking controller utilized to mimic an ideal control law; and the parameters of fuzzy CMAC are online tuned by the derived adaptation laws from the Lyapunov stability theorem. The robust controller is designed to dispel the approximation error introduced by the fuzzy CMAC, so that the asymptotic stability of the closed-loop system can be guaranteed. Finally, the experimental results for the trajectory tracking have shown the effectiveness of the proposed control method even the system model of VCM is unknown.