This paper proposes a novel robust adaptive fuzzy controller for uncertain nonlinear systems with external disturbance. At first, the definitions of compressor and limiter with adjustable parameters are described, an adaptive fuzzy controller with updated laws of the parameters in compressor and estimate values of the fuzzy approximation accuracies is introduced. It is do not need special attention to the logic structure of fuzzy logic system, but focus on the parameters of compressor, limiter and fuzzy approximation accuracies. So the adaptive fuzzy control method in this paper can not only reduce the number of on-line updated parameters but also be suited to various types of fuzzy logic systems with fuzzy rules or without any rules. Finally, the tracking controller in this paper can guarantee the tracking errors and the states of the closed-loop system to be bounded. The superior tracking performance of the proposed method is illustrated with simulation results.