In practice, there are many chaotic systems whose models are usually unknown or partially unknown. However, the majority of control schemes focus on model-dependent techniques. The model-free controlling problem for affine chaotic systems is investigated in this Letter. An adaptive higher-order differential feedback controller (HODFC), which does not depend on the model of the controlled chaotic system, is presented. The controller utilizes the information of the measured output and the given objective as well as extracted differentials of those via higher-order differentiator (HOD). Stability, convergence and robustness of the closed-loop system are investigated. The presented adaptive HODFC can successfully control the uncertain Lorenz system, the Chen system, the Duffing-Holmes system, the R