This paper discusses an adaptive fuzzy controller design method for chaotic systems in the presence of completely unknown nonlinearities and disturbances. All the unknown nonlinear functions are estimated by dynamic fuzzy approximators so that the adaptive fuzzy control approach can be employed in the chaotic systems. Moreover, H∞ control method is applied to attenuate the effect of the modeling errors and disturbances in tracking control. An example is given to illustrate the effectiveness of this approach.