This paper presents an adaptive fuzzy controller for a class of completely pure-feedback nonlinear systems. Takagi-Sugeno type fuzzy logic systems are
used to approximate the unknown nonlinear functions. The controller synthesis is developed by the backstepping technique and the small gain approach. The closed-loop control system is proved to be semi-globally uniformly ultimately bounded (SGUUB) and the tracking error converges to a residual set. The simulation results show the effectiveness of the control scheme.